Surgical system shaft interconnection

ABSTRACT

A surgical instrument assembly comprising a proximal shaft assembly comprising a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly is disclosed. The distal shaft assembly comprises a distal drive member configured to be coupled to and decoupled from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member. The drive stroke comprises a beginning of stroke position, an end of stroke position distal to the beginning of stroke position, and a home position. The proximal drive member and the distal drive member are configured to be coupled to and decoupled from each other when the proximal drive member and the distal drive member are in the home position, wherein the home position is not at the beginning of stroke position or the end of stroke position.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a surgical instrument configured to beoperably coupled with a robotic surgical system in accordance with atleast one embodiment;

FIG. 2 is an elevational view of the surgical instrument of FIG. 1;

FIG. 3 is a partial perspective view of the surgical instrument of FIG.1 illustrated in a disassembled condition;

FIG. 4 is a perspective view of an interconnection between a shaftassembly and a transmission assembly of the surgical instrument of FIG.1;

FIG. 5 is a perspective view of the interconnection of FIG. 4 in adisassembled condition;

FIG. 6 is an exploded view of the shaft assembly of the surgicalinstrument of FIG. 1;

FIG. 7 is a partial exploded view of the transmission assembly of thesurgical instrument of FIG. 1;

FIG. 8 is an exploded view of the interconnection of FIG. 4;

FIG. 9 is an elevational view of an end effector of the shaft assemblyof the surgical instrument of FIG. 1 illustrated in an open, unclamped,configuration;

FIG. 10 is an elevational view of the end effector of FIG. 9 illustratedin a closed, clamped configuration;

FIG. 11 is a plan view of the end effector of FIG. 9 illustrated in anarticulated configuration;

FIG. 12 is a plan view of the end effector of FIG. 9 illustrated in anunarticulated configuration;

FIG. 13 is a cross-sectional elevational view of the transmissionassembly and a housing assembly of the surgical instrument of FIG. 1;

FIG. 13A is a partial perspective view of a slider assembly of thetransmission assembly of FIG. 13;

FIG. 13B is a partial perspective view of the slider assembly of FIG.13A illustrated with some components removed;

FIG. 13C is a cross-sectional elevational view of the slider assembly ofFIG. 13A corresponding with the open configuration of the end effectorillustrated in FIG. 9;

FIG. 13D is a cross-sectional elevational view of the slider assembly ofFIG. 13A corresponding with the closed configuration of the end effectorillustrated in FIG. 10;

FIG. 14 is a plan view of the housing assembly of FIG. 13 illustratedwith some components removed;

FIG. 15 is a partial cross-sectional view of the surgical instrument ofFIG. 1 corresponding with the closed, clamped configuration of the endeffector illustrated in FIG. 10;

FIG. 16 is a partial cross-sectional view of the surgical instrument ofFIG. 1 corresponding with the open, unclamped configuration of the endeffector illustrated in FIG. 9;

FIG. 17 is a partial cross-sectional view of the housing assembly ofFIG. 13 illustrating a portion of a closure system bailout;

FIG. 18 is a partial cross-sectional view of the housing assembly ofFIG. 13 illustrating the closure system bailout of FIG. 17 in anactuated configuration;

FIG. 19 is a partial perspective view of the surgical instrument of FIG.1 illustrating another closure system bailout;

FIG. 20 is a perspective view of the transmission and housing assembliesof FIG. 13 illustrated with some components removed;

FIG. 21 is a perspective view of the transmission and housing assembliesof FIG. 13 illustrating the closure system bailout of FIG. 19 in areleased configuration;

FIG. 22 is a perspective view of the transmission and housing assembliesof FIG. 13 illustrated with some components removed;

FIG. 23 is a perspective view of the transmission and housing assembliesof FIG. 13 illustrating the closure system bailout of FIG. 19 in thereleased configuration of FIG. 21;

FIG. 24 is a cross-sectional end view of the slider assembly of FIG. 13Aand the closure system bailout of FIG. 19;

FIG. 25 is a cross-sectional end view of the slider assembly of FIG. 13Aand the closure system bailout of FIG. 19 in the released configurationof FIG. 21;

FIG. 26 is a partial cross-sectional perspective view of the surgicalinstrument of FIG. 1 illustrated in the open configuration of FIG. 9;

FIG. 27 is a partial cross-sectional plan view of the transmissionassembly of FIG. 13 illustrating the slider assembly of FIG. 13A;

FIG. 28 is another partial cross-sectional plan view of the transmissionassembly of FIG. 13 illustrating the slider assembly of FIG. 13A;

FIG. 29 is a partial cross-sectional plan view of the transmissionassembly of FIG. 13 illustrated in an articulated configuration;

FIG. 30 is a partial plan view of a firing system in the housingassembly of FIG. 13;

FIG. 31 is a partial plan view of the firing system of FIG. 30illustrated with a firing system bailout operably engaged with thefiring system;

FIG. 32 is a partial plan view of the firing system of FIG. 30 beingretracted by the firing system bailout; of FIG. 31;

FIG. 33 is a perspective view of a surgical instrument configured to beoperably coupled with a robotic surgical system in accordance with atleast one embodiment;

FIG. 34 is a perspective view illustrating a shaft assembly of thesurgical instrument of FIG. 33 disassembled from a transmission assemblyand a housing assembly of the surgical instrument of FIG. 33;

FIG. 35 is an exploded perspective view of the shaft assembly of FIG.34;

FIG. 36 is an exploded perspective view of a spine of the shaft assemblyof FIG. 34;

FIG. 37 is an exploded perspective view of the transmission assembly ofFIG. 34;

FIG. 38 is a perspective view of an interconnection between the shaftassembly and the transmission assembly of FIG. 34;

FIG. 39 is a perspective view of the interconnection of FIG. 38 in adisconnected configuration;

FIG. 40 is a cross-sectional view of the interconnection of FIG. 38;

FIG. 41 is a perspective view of the interconnection of FIG. 38 in adisconnected configuration illustrated with some components removed;

FIG. 42 is a partial cross-sectional elevational view of the housingassembly of FIG. 34;

FIG. 43 is a partial cross-sectional elevational view of thetransmission assembly of FIG. 34 illustrating a slider assembly;

FIG. 44 is a partial cross-sectional elevation view of the transmissionassembly of FIG. 34 illustrated in an articulated configuration;

FIG. 45 is a perspective view of the transmission and housing assembliesof FIG. 34 illustrated with some components removed;

FIG. 46 is a partial elevational view of the transmission and housingassemblies of FIG. 34;

FIG. 47 is an end cross-sectional view of the transmission assembly ofFIG. 34 taken along line 47-47 in FIG. 46;

FIG. 47A is a partial cross-sectional view of a first slider of theslider assembly of FIG. 43 taken along line 47A-47A in FIG. 47illustrating a closure system bailout;

FIG. 47B is a partial cross-sectional view of the first slider of FIG.47A taken along line 47A-47A in FIG. 47 illustrated in a closed, orclamped, configuration;

FIG. 47C is a partial cross-sectional view of the first slider of FIG.47A taken along line 47A-47A in FIG. 47 illustrating the closure systembailout in a released configuration;

FIG. 48 is a partial perspective view of the surgical instrument of FIG.33 illustrating an end effector of the shaft assembly of FIG. 34 in aclosed, or clamped, configuration;

FIG. 49 is a partial perspective view of the surgical instrument of FIG.33 illustrating the end effector of FIG. 48 in an open, or unclamped,configuration and the closure system bailout of FIG. 47A in the releasedconfiguration of FIG. 47C;

FIG. 50 is a partial cross-sectional bottom view of the transmissionassembly of FIG. 34;

FIG. 51 is a partial perspective view of the housing assembly of FIG. 34illustrating a firing system illustrated with some components removed;

FIG. 52 is a partial perspective view of the housing assembly of FIG. 34illustrating a firing system bailout;

FIG. 53 is a partial perspective view of the housing assembly of FIG. 34illustrating the firing system bailout of FIG. 52 in an actuatedconfiguration;

FIG. 54 illustrates a portion of the firing system of FIG. 51 and thefiring system bailout of FIG. 52;

FIG. 55 illustrates the firing system bailout of FIG. 52 in a releasedconfiguration;

FIG. 56 illustrates the firing system bailout of FIG. 52 in the actuatedconfiguration of FIG. 53;

FIG. 57 is a partial bottom perspective view of the housing assembly ofFIG. 34 illustrating a bailout door in a closed configuration;

FIG. 58 is a partial bottom perspective view of the housing assembly ofFIG. 34 illustrating the bailout door of FIG. 57 in an openconfiguration;

FIG. 59 is a cross-sectional end view of the housing assembly of FIG. 34illustrating the bailout door of FIG. 57 in the closed configuration ofFIG. 57;

FIG. 60 is a cross-sectional end view of the housing assembly of FIG. 34illustrating the bailout door of FIG. 57 in the open configuration ofFIG. 58;

FIG. 61 is a partial bottom cross-sectional view of the housing assemblyof FIG. 34 illustrating the bailout door of FIG. 57 in the closedconfiguration of FIG. 57;

FIG. 62 is a bottom plan view of the surgical instrument of FIG. 33illustrating the end effector of FIG. 48 in an articulated configurationand the bailout door of FIG. 57 in the open configuration of FIG. 58;

FIG. 63 is a bottom plan view of the surgical instrument of FIG. 33illustrating the end effector of FIG. 48 articulated in an oppositedirection and the bailout door of FIG. 57 in the open configuration ofFIG. 58;

FIG. 64 is a bottom plan view of the surgical instrument of FIG. 33illustrating an articulation bailout system being actuated to move theend effector of FIG. 48 into an unarticulated configuration;

FIG. 65 is a partial perspective view of the surgical instrument of FIG.33 illustrated with some components removed illustrating thearticulation bailout system of FIG. 64 in a disengaged configuration;

FIG. 65A is a partial perspective view of the surgical instrument ofFIG. 33 illustrated with some components removed illustrating thearticulation bailout system of FIG. 64 in the disengaged configurationof FIG. 65;

FIG. 66 is a partial perspective view of the surgical instrument of FIG.33 illustrated with some components removed illustrating thearticulation bailout system of FIG. 64 in an engaged configuration;

FIG. 67 is a perspective view of a surgical instrument assemblycomprising a surgical instrument and a sterile adapter in accordancewith at least one embodiment, wherein the surgical instrument isconfigured to be attached to and detached from the sterile adapter, andwherein the surgical instrument is illustrated in a pre-assembled state;

FIG. 68 is a perspective view of a drive system of the surgicalinstrument of FIG. 67;

FIG. 69 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 67;

FIG. 70 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 67, wherein the surgical instrument isillustrated in a partially attached state;

FIG. 71 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 67, wherein the surgical instrument isillustrated in a fully attached state;

FIG. 72 is a perspective view of a surgical instrument assemblycomprising a surgical instrument and a sterile adapter in accordancewith at least one embodiment, wherein the surgical instrument isconfigured to be attached to and detached from the sterile adapter, andwherein the surgical instrument is illustrated in a pre-assembly state;

FIG. 73 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 72;

FIG. 74 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 72, wherein the surgical instrument isillustrated in a partially attached state;

FIG. 75 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 72, wherein the surgical instrument isillustrated in a fully attached state;

FIG. 76 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 72, wherein the surgical instrument isillustrated in a partially detached state;

FIG. 77 is a cross-sectional, perspective view of the surgicalinstrument assembly of FIG. 72, wherein the surgical instrument isillustrated in a disassembled state; and

FIG. 78 is a perspective view of a surgical robot.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. patentapplications that were filed on Aug. 3, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/668,298, entitled METHOD FOROPERATING A SURGICAL SYSTEM BAILOUT, now U.S. Patent ApplicationPublication No. 2019/0038281;

U.S. patent application Ser. No. 15/668,301, entitled SURGICAL SYSTEMBAILOUT, now U.S. Patent Application Publication No. 2019/0038282; and

U.S. patent application Ser. No. 15/668,319, entitled SURGICAL SYSTEMCOMPRISING AN ARTICULATION BAILOUT, now U.S. Patent ApplicationPublication No. 2019-0038283.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 28, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/635,693, entitled SURGICALINSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT;

U.S. patent application Ser. No. 15/635,729, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;

U.S. patent application Ser. No. 15/635,785, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO;

U.S. patent application Ser. No. 15/635,808, entitled SURGICALINSTRUMENT COMPRISING FIRING MEMBER SUPPORTS;

U.S. patent application Ser. No. 15/635,837, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME;

U.S. patent application Ser. No. 15/635,941, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURESYSTEM;

U.S. patent application Ser. No. 15/636,029, entitled SURGICALINSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT;

U.S. patent application Ser. No. 15/635,958, entitled SURGICALINSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS;

U.S. patent application Ser. No. 15/635,981, entitled SURGICAL STAPLINGINSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES;

U.S. patent application Ser. No. 15/636,009, entitled SURGICALINSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE;

U.S. patent application Ser. No. 15/635,663, entitled METHOD FORARTICULATING A SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/635,530, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENEDARTICULATION JOINT CONFIGURATIONS;

U.S. patent application Ser. No. 15/635,549, entitled SURGICALINSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRINGMEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TOFIRING;

U.S. patent application Ser. No. 15/635,559, entitled SURGICALINSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACTWITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOTAXIS;

U.S. patent application Ser. No. 15/635,578, entitled SURGICAL ENDEFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS;

U.S. patent application Ser. No. 15/635,594, entitled SURGICAL CUTTINGAND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATINGARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS;

U.S. patent application Ser. No. 15/635,612, entitled JAW RETAINERARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW INPIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW;

U.S. patent application Ser. No. 15/635,621, entitled SURGICALINSTRUMENT WITH POSITIVE JAW OPENING FEATURES;

U.S. patent application Ser. No. 15/635,631, entitled SURGICALINSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER;

U.S. patent application Ser. No. 15/635,521, entitled SURGICALINSTRUMENT LOCKOUT ARRANGEMENT;

U.S. Design patent application Ser. No. 29/609,083, entitled SURGICALINSTRUMENT SHAFT;

U.S. Design patent application Ser. No. 29/609,087, entitled SURGICALFORMING ANVIL;

U.S. Design patent application Ser. No. 29/609,093, entitled SURGICALFASTENER CARTRIDGE;

U.S. Design patent application Ser. No. 29/609,121, entitled SURGICALINSTRUMENT;

U.S. Design patent application Ser. No. 29/609,125, entitled SURGICALINSTRUMENT;

U.S. Design patent application Ser. No. 29/609,128, entitled SURGICALINSTRUMENT; and

U.S. Design patent application Ser. No. 29/609,129, entitled DISPLAYSCREEN PORTION OF A SURGICAL INSTRUMENT HAVING A GRAPHICAL USERINTERFACE.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 27, 2017 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/634,024, entitled SURGICAL ANVILMANUFACTURING METHODS;

U.S. patent application Ser. No. 15/634,035, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,046, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,054, entitled SURGICAL ANVILARRANGEMENTS;

U.S. patent application Ser. No. 15/634,068, entitled SURGICAL FIRINGMEMBER ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,076, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,090, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/634,099, entitled SURGICAL ENDEFFECTORS AND ANVILS; and

U.S. patent application Ser. No. 15/634,117, entitled ARTICULATIONSYSTEMS FOR SURGICAL INSTRUMENTS.

Applicant of the present application owns the following U.S. patentapplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/386,185, entitled SURGICAL STAPLINGINSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF;

U.S. patent application Ser. No. 15/386,230, entitled ARTICULATABLESURGICAL STAPLING INSTRUMENTS;

U.S. patent application Ser. No. 15/386,221, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/386,209, entitled SURGICAL ENDEFFECTORS AND FIRING MEMBERS THEREOF;

U.S. patent application Ser. No. 15/386,198, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES;

U.S. patent application Ser. No. 15/386,240, entitled SURGICAL ENDEFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR;

U.S. patent application Ser. No. 15/385,939, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,941, entitled SURGICAL TOOLASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURESYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION ANDFIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,943, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,950, entitled SURGICAL TOOLASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;

U.S. patent application Ser. No. 15/385,945, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,946, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,951, entitled SURGICALINSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENINGDISTANCE;

U.S. patent application Ser. No. 15/385,953, entitled METHODS OFSTAPLING TISSUE;

U.S. patent application Ser. No. 15/385,954, entitled FIRING MEMBERSWITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/385,955, entitled SURGICAL ENDEFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,948, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,956, entitled SURGICALINSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;

U.S. patent application Ser. No. 15/385,958, entitled SURGICALINSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEMACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT;

U.S. patent application Ser. No. 15/385,947, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,896, entitled METHOD FORRESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;

U.S. patent application Ser. No. 15/385,898, entitled STAPLE FORMINGPOCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;

U.S. patent application Ser. No. 15/385,899, entitled SURGICALINSTRUMENT COMPRISING IMPROVED JAW CONTROL;

U.S. patent application Ser. No. 15/385,901, entitled STAPLE CARTRIDGEAND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;

U.S. patent application Ser. No. 15/385,902, entitled SURGICALINSTRUMENT COMPRISING A CUTTING MEMBER;

U.S. patent application Ser. No. 15/385,904, entitled STAPLE FIRINGMEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT;

U.S. patent application Ser. No. 15/385,905, entitled FIRING ASSEMBLYCOMPRISING A LOCKOUT;

U.S. patent application Ser. No. 15/385,907, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRINGASSEMBLY LOCKOUT;

U.S. patent application Ser. No. 15/385,908, entitled FIRING ASSEMBLYCOMPRISING A FUSE;

U.S. patent application Ser. No. 15/385,909, entitled FIRING ASSEMBLYCOMPRISING A MULTIPLE FAILED-STATE FUSE;

U.S. patent application Ser. No. 15/385,920, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,913, entitled ANVIL ARRANGEMENTSFOR SURGICAL STAPLE/FASTENERS;

U.S. patent application Ser. No. 15/385,914, entitled METHOD OFDEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THESAME SURGICAL STAPLING INSTRUMENT;

U.S. patent application Ser. No. 15/385,893, entitled BILATERALLYASYMMETRIC STAPLE FORMING POCKET PAIRS;

U.S. patent application Ser. No. 15/385,929, entitled CLOSURE MEMBERSWITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE ANDDISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,911, entitled SURGICALSTAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRINGSYSTEMS;

U.S. patent application Ser. No. 15/385,927, entitled SURGICAL STAPLINGINSTRUMENTS WITH SMART STAPLE CARTRIDGES;

U.S. patent application Ser. No. 15/385,917, entitled STAPLE CARTRIDGECOMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;

U.S. patent application Ser. No. 15/385,900, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;

U.S. patent application Ser. No. 15/385,931, entitled NO-CARTRIDGE ANDSPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS;

U.S. patent application Ser. No. 15/385,915, entitled FIRING MEMBER PINANGLE;

U.S. patent application Ser. No. 15/385,897, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;

U.S. patent application Ser. No. 15/385,922, entitled SURGICALINSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;

U.S. patent application Ser. No. 15/385,924, entitled SURGICALINSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS;

U.S. patent application Ser. No. 15/385,912, entitled SURGICALINSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDESEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,910, entitled ANVIL HAVING AKNIFE SLOT WIDTH;

U.S. patent application Ser. No. 15/385,906, entitled FIRING MEMBER PINCONFIGURATIONS;

U.S. patent application Ser. No. 15/386,188, entitled STEPPED STAPLECARTRIDGE WITH ASYMMETRICAL STAPLES;

U.S. patent application Ser. No. 15/386,192, entitled STEPPED STAPLECARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;

U.S. patent application Ser. No. 15/386,206, entitled STAPLE CARTRIDGEWITH DEFORMABLE DRIVER RETENTION FEATURES;

U.S. patent application Ser. No. 15/386,226, entitled DURABILITYFEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLINGINSTRUMENTS;

U.S. patent application Ser. No. 15/386,222, entitled SURGICAL STAPLINGINSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES;

U.S. patent application Ser. No. 15/386,236, entitled CONNECTIONPORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS;

U.S. patent application Ser. No. 15/385,887, entitled METHOD FORATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY,TO A SURGICAL ROBOT;

U.S. patent application Ser. No. 15/385,889, entitled SHAFT ASSEMBLYCOMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH AMOTORIZED SURGICAL INSTRUMENT SYSTEM;

U.S. patent application Ser. No. 15/385,890, entitled SHAFT ASSEMBLYCOMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;

U.S. patent application Ser. No. 15/385,891, entitled SHAFT ASSEMBLYCOMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRINGMEMBER TO TWO DIFFERENT SYSTEMS;

U.S. patent application Ser. No. 15/385,892, entitled SURGICAL SYSTEMCOMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TOARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM;

U.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLYCOMPRISING A LOCKOUT;

U.S. patent application Ser. No. 15/385,895, entitled SHAFT ASSEMBLYCOMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS;

U.S. patent application Ser. No. 15/385,916, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,918, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,919, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,921, entitled SURGICALSTAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TODISENGAGE FIRING MEMBER LOCKOUT FEATURES;

U.S. patent application Ser. No. 15/385,923, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,925, entitled JAW ACTUATED LOCKARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICALEND EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE ENDEFFECTOR;

U.S. patent application Ser. No. 15/385,926, entitled AXIALLY MOVABLECLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OFSURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE COVERARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATORSHAFT OF A SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/385,930, entitled SURGICAL ENDEFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING ANDCLOSING END EFFECTOR JAWS;

U.S. patent application Ser. No. 15/385,932, entitled ARTICULATABLESURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;

U.S. patent application Ser. No. 15/385,933, entitled ARTICULATABLESURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF ANARTICULATION LOCK;

U.S. patent application Ser. No. 15/385,934, entitled ARTICULATION LOCKARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION INRESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM;

U.S. patent application Ser. No. 15/385,935, entitled LATERALLYACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OFA SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION; and

U.S. patent application Ser. No. 15/385,936, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/191,775, entitled STAPLE CARTRIDGECOMPRISING WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,807, entitled STAPLING SYSTEMFOR USE WITH WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,834, entitled STAMPED STAPLESAND STAPLE CARTRIDGES USING THE SAME;

U.S. patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGECOMPRISING OVERDRIVEN STAPLES; and

U.S. patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGECOMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. Design patent application Ser. No. 29/569,218, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,227, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,259, entitled SURGICALFASTENER CARTRIDGE; and

U.S. Design patent application Ser. No. 29/569,264, entitled SURGICALFASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/089,325, entitled METHOD FOROPERATING A SURGICAL STAPLING SYSTEM;

U.S. patent application Ser. No. 15/089,321, entitled MODULAR SURGICALSTAPLING SYSTEM COMPRISING A DISPLAY;

U.S. patent application Ser. No. 15/089,326, entitled SURGICAL STAPLINGSYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD;

U.S. patent application Ser. No. 15/089,263, entitled SURGICALINSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;

U.S. patent application Ser. No. 15/089,262, entitled ROTARY POWEREDSURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM;

U.S. patent application Ser. No. 15/089,277, entitled SURGICAL CUTTINGAND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER;

U.S. patent application Ser. No. 15/089,296, entitled INTERCHANGEABLESURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELYROTATABLE ABOUT A SHAFT AXIS;

U.S. patent application Ser. No. 15/089,258, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SHIFTABLE TRANSMISSION;

U.S. patent application Ser. No. 15/089,278, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE;

U.S. patent application Ser. No. 15/089,284, entitled SURGICAL STAPLINGSYSTEM COMPRISING A CONTOURABLE SHAFT;

U.S. patent application Ser. No. 15/089,295, entitled SURGICAL STAPLINGSYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT;

U.S. patent application Ser. No. 15/089,300, entitled SURGICAL STAPLINGSYSTEM COMPRISING AN UNCLAMPING LOCKOUT;

U.S. patent application Ser. No. 15/089,196, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW CLOSURE LOCKOUT;

U.S. patent application Ser. No. 15/089,203, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;

U.S. patent application Ser. No. 15/089,210, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;

U.S. patent application Ser. No. 15/089,324, entitled SURGICALINSTRUMENT COMPRISING A SHIFTING MECHANISM;

U.S. patent application Ser. No. 15/089,335, entitled SURGICAL STAPLINGINSTRUMENT COMPRISING MULTIPLE LOCKOUTS;

U.S. patent application Ser. No. 15/089,339, entitled SURGICAL STAPLINGINSTRUMENT;

U.S. patent application Ser. No. 15/089,253, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENTHEIGHTS;

U.S. patent application Ser. No. 15/089,304, entitled SURGICAL STAPLINGSYSTEM COMPRISING A GROOVED FORMING POCKET;

U.S. patent application Ser. No. 15/089,331, entitled ANVIL MODIFICATIONMEMBERS FOR SURGICAL STAPLE/FASTENERS;

U.S. patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGESWITH ATRAUMATIC FEATURES;

U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR STAPLINGSYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT;

U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLINGSYSTEM COMPRISING ROTARY FIRING SYSTEM; and

U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR STAPLINGSYSTEM COMPRISING LOAD CONTROL.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Dec. 31, 2015 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS FORCOMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 14/984,552, entitled SURGICALINSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/019,220, entitled SURGICALINSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR;

U.S. patent application Ser. No. 15/019,228, entitled SURGICALINSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,196, entitled SURGICALINSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT;

U.S. patent application Ser. No. 15/019,206, entitled SURGICALINSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVETO AN ELONGATE SHAFT ASSEMBLY;

U.S. patent application Ser. No. 15/019,215, entitled SURGICALINSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,227, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,235, entitled SURGICALINSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATIONSYSTEMS;

U.S. patent application Ser. No. 15/019,230, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS; and

U.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/742,925, entitled SURGICAL ENDEFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S. PatentApplication Publication No. 2016/0367256;

U.S. patent application Ser. No. 14/742,941, entitled SURGICAL ENDEFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now U.S. PatentApplication Publication No. 2016/0367248;

U.S. patent application Ser. No. 14/742,914, entitled MOVABLE FIRINGBEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367255;

U.S. patent application Ser. No. 14/742,900, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTERFIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT, now U.S. PatentApplication Publication No. 2016/0367254;

U.S. patent application Ser. No. 14/742,885, entitled DUAL ARTICULATIONDRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367246; and

U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULLARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, nowU.S. Patent Application Publication No. 2016/0367245.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICALINSTRUMENT, now U.S. Patent Application Publication No. 2016/0256184;

U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVELTHRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2016/02561185;

U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUECOMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUETYPES, now U.S. Patent Application Publication No. 2016/0256154;

U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTISENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUECOMPRESSION, now U.S. Patent Application Publication No. 2016/0256071;

U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEEDCONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICALINSTRUMENTS, now U.S. Patent Application Publication No. 2016/0256153;

U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENTEVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, ANDVISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent ApplicationPublication No. 2016/0256187;

U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVEFEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2016/0256186;

U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUESAND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROLPROCESSING FROM HANDLE, now U.S. Patent Application Publication No.2016/0256155;

U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITHLOCAL SIGNAL PROCESSING, now U.S. Patent Application Publication No.2016/0256163;

U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FORDETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICALSTAPLE/FASTENER, now U.S. Patent Application Publication No.2016/0256160;

U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWERCOMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. PatentApplication Publication No. 2016/0256162; and

U.S. patent application Ser. No. 14/640,780, entitled SURGICALINSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. PatentApplication Publication No. 2016/0256161.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/633,576, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. PatentApplication Publication No. 2016/0249919;

U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUSCONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICALAPPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. PatentApplication Publication No. 2016/0249915;

U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGINGSYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S.Patent Application Publication No. 2016/0249910;

U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEMTHAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S.Patent Application Publication No. 2016/0249918;

U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FORMONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S.Patent Application Publication No. 2016/0249916;

U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERYFOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249908;

U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FORA SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249909;

U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICALINSTRUMENT HANDLE, now U.S. Patent Application Publication No.2016/0249945;

U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLINGASSEMBLY, now U.S. Patent Application Publication No. 2016/0249927; and

U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUSCONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. PatentApplication Publication No. 2016/0249917.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/574,478, entitled SURGICALINSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANSFOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. PatentApplication Publication No. 2016/0174977;

U.S. patent application Ser. No. 14/574,483, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. PatentApplication Publication No. 2016/0174969;

U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTSFOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2016/0174978;

U.S. patent application Ser. No. 14/575,148, entitled LOCKINGARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICALEND EFFECTORS, now U.S. Patent Application Publication No. 2016/0174976;

U.S. patent application Ser. No. 14/575,130, entitled SURGICALINSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETENON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. PatentApplication Publication No. 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled SURGICALINSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. PatentApplication Publication No. 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174973;

U.S. patent application Ser. No. 14/574,493, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174971.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION,now U.S. Patent Application Publication No. 2014/0246471;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0246472;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No.9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,554,794;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat.No. 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No.9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. PatentApplication Publication No. 2014/0263542;

U.S. patent application Ser. No. 13/803,193, entitled CONTROLARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat.No. 9,332,987;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLESHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSORARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS,now U.S. Patent Application Publication No. 2014/0263538;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTIONMOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application PublicationNo. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEMLOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,629,623;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATIONCONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,726;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,727; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEMFOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272582;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT, now U.S. Patent Application Publication No.2015/0272581;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent ApplicationPublication No. 2015/0272580;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S.Patent Application Publication No. 2015/0272574;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. PatentApplication Publication No. 2015/0272579;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2015/0272569;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent ApplicationPublication No. 2015/0272571;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. PatentApplication Publication No. 2015/0272578;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent ApplicationPublication No. 2015/0272570;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272572;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Patent ApplicationPublication No. 2015/0277471;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S.Patent Application Publication No. 2015/0280424;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272583; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent ApplicationPublication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY ANDSENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066912;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITHINTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. PatentApplication Publication No. 2016/0066914;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICEDEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Patent ApplicationPublication No. 2016/0066910;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORSWITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION,now U.S. Patent Application Publication No. 2016/0066909;

U.S. patent application Ser. No. 14/479,110, entitled POLARITY OF HALLMAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Patent ApplicationPublication No. 2016/0066915;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGEWAKE UP OPERATION AND DATA RETENTION, now U.S. Patent ApplicationPublication No. 2016/0066911;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTORCONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066916; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OFTISSUE PARAMETER STABILIZATION, now U.S. Patent Application PublicationNo. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. PatentApplication Publication No. 2014/0305987;

U.S. patent application Ser. No. 14/248,581, entitled SURGICALINSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROMTHE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;

U.S. patent application Ser. No. 14/248,595, entitled SURGICALINSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THESURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305988;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEARSURGICAL STAPLE/FASTENER, now U.S. Patent Application Publication No.2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARYDRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. PatentApplication Publication No. 2014/0305994;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLE/FASTENER, now U.S. Patent Application Publication No.2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEMDECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, nowU.S. Patent Application Publication No. 2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEARCUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEARCUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitledSURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTORCONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A surgical instrument 1000 is illustrated in FIGS. 1-32. The surgicalinstrument 1000 comprises a surgical stapling instrument which isconfigured to be used with a robotic surgical system. Various roboticsurgical systems are disclosed in U.S. Patent No. 2012/0298719, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, filed May 27, 2011, now U.S. Pat. No. 9,072,535, theentire disclosure of which is incorporated by reference herein.Referring primarily to FIGS. 1 and 2, the surgical instrument 1000comprises a housing assembly 2000 configured to be attached to therobotic surgical system and, in addition, a transmission assembly 3000mounted to the housing assembly 2000. The surgical instrument 1000further comprises a shaft assembly 4000 attachable to the transmissionassembly 3000. In use, the robotic surgical system can transmit rotaryand/or linear inputs into the housing assembly 2000 and/or thetransmission assembly 3000 to operate the shaft assembly 4000, asdescribed in greater detail below.

The shaft assembly 4000 comprises, among other things, a shaft 4100 andan end effector 4200. The end effector 4200 comprises a first jaw 4210comprising a cartridge channel configured to receive a staple cartridge,such as staple cartridge 4230, for example. The end effector 4200further comprises a second jaw 4220 comprising an anvil configured todeform the staples of the staple cartridge. The second jaw 4220 isrotatable relative to the first jaw 4210 between an open, unclampedposition (FIG. 9) and a closed, clamped position (FIG. 10). The shaftassembly 4000 further comprises a closure tube 4120 which is movabledistally along a longitudinal axis LA of the shaft 4100 to close thesecond jaw 4220. As described in greater detail below, the transmissionassembly 3000 is operably coupled to a first linear input of the roboticsurgical system which is configured to push the closure tube 4120distally and close the second jaw 4220 to clamp the end effector 4200onto the tissue of a patient. The transmission assembly 3000 is alsooperably coupled to a second linear input of the robotic surgical systemwhich is configured to push the closure tube 4120 proximally and open,or unclamp, the second jaw 4220. The first and second linear inputs ofthe robotic surgical system can be selectively actuated to open andclose the end effector 4200 as needed.

In various alternative embodiments, the first jaw 4210 is rotatablerelative to the second jaw 4220. In such embodiments, the jaw motion andthe staple firing motion both occur on the same side of the endeffector.

The shaft assembly 4000 further comprises an articulation joint 4300which rotatably connects the end effector 4200 to the shaft 4100. Asdescribed in greater detail below, the transmission assembly 3000 isoperably coupled to a third linear input of the robotic surgical systemwhich is configured to articulate the end effector 4200 in a firstdirection, such as to the right (FIG. 11), for example. The transmissionassembly 3000 is operably coupled to a fourth linear input of therobotic surgical system which is configured to articulate the endeffector 4200 in a second direction, such as to the left. In use, thethird and fourth linear inputs of the robotic surgical system can beselectively actuated to rotate the end effector 4200 between anunarticulated configuration (FIG. 12) and an articulated configuration,or between two different articulated configurations, as needed in orderto suitably position the end effector 4200 relative to the tissue of apatient within a surgical site.

The shaft assembly 4000 is also rotatable about the longitudinal axis LAto position the end effector 4200 relative to the tissue of a patientwithin a surgical site. As discussed in greater detail below, the shaftassembly 4000 is rotatably supported by a housing 3100 of thetransmission assembly 3000 and is operably coupled with an end effectorrotation drive system 2900 in the housing assembly 2000. The endeffector rotation drive system 2900 comprises a drive input which isaccessible through an opening 2180 defined in a housing 2100 of thehousing assembly 2000. The end effector rotation drive system 2900 isoperably coupled to a first rotary input of the robotic surgical systemwhen the surgical instrument 1000 is assembled thereto. When the driveinput of the end effector rotation drive system 2900 is rotated in afirst direction, the shaft assembly 4000 is rotated about thelongitudinal axis LA in a first direction, such as a clockwisedirection. When the drive input of the end effector drive system 2900 isrotated in a second, or opposite, direction, the shaft assembly 4000 isrotated about the longitudinal axis LA in a second direction, such as acounter-clockwise direction. The end effector drive system 2900 can beselectively operated in the first and second directions as many times asneeded to suitably position the end effector 4200 relative to thetargeted tissue.

The shaft assembly 4000 further comprises a staple firing systemconfigured to eject the staples from the staple cartridge 4230. Thestaple firing system of the shaft assembly 4000 is operably coupled witha staple firing drive system 2500 in the housing assembly 2000. Thestaple firing drive system 2500 comprises a drive input which isaccessible through an opening 2150 defined in the housing 2100 of thehousing assembly 2000. The staple firing drive system 2500 is operablycoupled to a second rotary input of the robotic surgical system when thesurgical instrument 1000 is assembled thereto. When the drive input ofthe staple firing drive system 2500 is rotated in a first direction, afiring bar of the staple firing system is advanced distally through, orat least partially through, a staple firing stroke. When the drive inputof the staple firing drive system 2500 is rotated in a second, oropposite, direction, the firing bar is retracted proximally through aretraction stroke. In various instances, the at least partially fired,or spent, staple cartridge 4230 can be replaced with an unspent staplecartridge and the staple firing system 2500 can be operated once againto perform another staple firing stroke, if desired.

During various surgical procedures, the end effector 4200 of thesurgical instrument 4000 is placed in a closed and unarticulatedconfiguration and inserted through a trocar into a surgical site withina patient. In various instances, a trocar comprises a tube including asharp tip at a distal end thereof which is configured to be pushedthrough an incision in a patient and, also, a sealed port at a proximalend thereof which is configured to sealingly receive the end effector4200 and seal against the shaft 4100 of the surgical instrument 1000.Once the end effector 4200 has been positioned in the surgical site bythe robotic surgical system, the shaft assembly 4000 can be rotatedabout its longitudinal axis LA to suitably orient the end effector 4200.Once the articulation joint 4300 of the shaft assembly 4000 has clearedthe distal end of the trocar, the end effector 4200 can be articulated.In many instances, the end effector 4200 is rotated about thelongitudinal axis LA before the end effector 4200 is articulated aboutthe articulation joint 4300; however, in some instances, it is possibleto articulate the end effector about the articulation joint 4300 beforethe end effector 4200 is rotated about the longitudinal axis LA and/orwhile the end effector 4200 is rotated about the longitudinal axis LA.

In many instances, the end effector 4200 is in its closed configurationwhen it is rotated and/or articulated as discussed above; however, insome instances, the end effector 4200 can be in its open configurationwhen it is rotated and/or articulated as discussed above. The roboticsurgical system and/or the surgical instrument 1000 can comprise one ormore lockouts configured to prevent the end effector 4200 from beingarticulated and/or rotated when the end effector 4200 is in its closedconfiguration. Such lockouts can be mechanical and/or electroniclockouts, for example. Moreover, such arrangements can reduce thepossibility of the end effector 4200 twisting the tissue of the patientonce the end effector 4200 is clamped onto the patient. Alternatively,the robotic surgical system and/or the surgical instrument 1000 cancomprise one or more lockouts configured or programmed to prevent theend effector 4200 from being rotated and/or articulated unless the endeffector 4200 is in its closed configuration. In any event, the endeffector 4200 is opened by the robotic surgical system before thetargeted tissue is positioned between the jaws 4210 and 4220 of the endeffector 4200 and then closed once the tissue is suitably positionedthere between. Thereafter, the robotic surgical system operates, or canbe controlled to operate, the staple firing system of the surgicalinstrument 1000 to perform a staple firing stroke. Similar to the above,the robotic surgical system and/or the surgical instrument 1000 cancomprise one or more mechanical and/or electronic lockouts configured toprevent the staple firing stroke from being performed unless the endeffector 4200 is in its closed, or a suitably closed, configuration.

Once the staple firing stroke has been completed, or at least partiallycompleted, the robotic surgical system can use the staple firing system2500 to retract the firing bar of the staple firing system. In variousinstances, the robotic surgical system and/or the surgical instrument1000 can comprise one or more lockouts configured to prevent the secondjaw 4220 from being opened until the firing member has been completely,or at least sufficiently, retracted. That said, the surgical instrument1000 can comprise one or more bailout systems that can overcome suchlockouts, as described in greater detail below. Once the end effector4200 has been released from the tissue, the robotic surgical system canmove, or be controlled to move, the end effector 4200 away from thetissue and the re-close and straighten the end effector 4200 beforepulling the end effector 4200 back through the trocar. In variousinstances, the robotic surgical system can completely retract the endeffector 4200 out of the trocar but, in some instances, the surgicalinstrument 1000 may need to be detached from the robotic surgicalinstrument and removed manually from the trocar.

In some instances, the robotic surgical system and the surgicalinstrument 1000 can be used to perform an open surgical procedure. Insuch procedures, a larger incision is made in the patient to access thesurgical site without the use of a trocar.

Additional details of the closure system, the articulation system, therotation system, and the staple firing system of the surgical instrument1000 are provided below. In various instances, however, one or more ofthese systems may become dysfunctional during use. Moreover, the roboticsurgical system may become dysfunctional during use which can preventone or more of the systems of the surgical instrument 1000 from beingoperated, or at least properly operated. As described in greater detailfurther below, the surgical instrument 1000 comprises bailout systemsconfigured to manually operate the surgical instrument 1000, at least tosome extent, in order to permit a clinician to remove the surgicalinstrument 1000 from the surgical site, among other things. Suchmanually-operated bailout systems are also helpful to manipulate thesurgical instrument 1000 when the surgical instrument 1000 is detachedfrom the surgical robotic system.

As discussed above, the transmission assembly 3000 of the surgicalinstrument 1000 is configured to receive four linear inputs from arobotic surgical system. That said, other embodiments are envisioned inwhich a transmission assembly of a surgical instrument comprises morethan or less than four linear inputs. Referring primarily to FIGS.21-29, the transmission assembly 3000 comprises a slider assembly 3700configured to transmit the four linear motions provided by the roboticsurgical system to the end effector closing and articulation systems ofthe surgical instrument 1000. More specifically, the slider assembly3700 comprises a first slider 3710 and a second slider 3720 configuredto receive, respectively, the first and second linear inputs of therobotic surgical system to operate the closure system of the surgicalinstrument 1000. The slider assembly 3700 further comprises a thirdslider 3730 and a fourth slider 3740 configured to receive,respectively, the third and fourth linear inputs of the robotic surgicalsystem to operate the articulation system of the surgical instrument1000.

Referring primarily to FIGS. 21-29, the first slider 3710 comprises afirst input socket, or cup, 3712 extending therefrom. The first inputsocket 3712 is configured to be pushed proximally by a first linearactuator of the robotic surgical system in order to push the firstslider 3710 proximally. Notably, the first linear actuator is notattached to the first input socket 3712 in a manner which permits thefirst linear actuator to pull the first slider 3710 distally. Similarly,the second slider 3720 comprises a second input socket, or cup, 3722extending therefrom. The second input socket 3722 is configured to bepushed proximally by a second linear actuator of the robotic surgicalsystem in order to push the second slider 3720 proximally. Notably, thesecond linear actuator is not attached to the second input socket 3722in a manner which permits the second linear actuator to pull the secondslider 3720 distally. Referring to FIGS. 27-29, the housing 3100 of thetransmission 3000 is configured to constrain the motion of the sliders3710 and 3720 to longitudinal, or at least substantially longitudinal,paths within the housing 3100.

Further to the above, referring to FIGS. 21-25, the first slider 3710comprises a first longitudinal rack of teeth 3716 defined thereon.Similarly, the second slider 3720 comprises a second longitudinal rackof teeth 3726 defined thereon. The first longitudinal rack of teeth 3716is parallel, or at least substantially parallel, to the secondlongitudinal rack of teeth 3726. The first longitudinal rack of teeth3716 is operably coupled to the second rack of teeth 3726 by a piniongear 2896 such that, when the first slider 3710 is pushed proximally bythe robotic surgical system, the second slider 3720 is pushed distallyby the first slider 3710. Correspondingly, the first slider 3710 ispushed distally by the second slider 3720 when the second slider 3720 ispushed proximally by the robotic surgical system. In either instance,the pinion gear 2896 rotates about an axis defined by a shaft, or pin,2890 extending therefrom. As discussed in greater detail below, thepinion gear 2896 is displaceable away from the racks 3716 and 3726 tooperably decouple the first slider 3710 and the second slider 3720 (FIG.25) so that the sliders 3710 and 3720 may be operated independently ofone another to manually bailout the closing system of the surgicalinstrument 1000.

Further to the above, referring to FIGS. 13-13D, the second slider 3720comprises a drive portion 3724 coupled with a drive disc 3820. Morespecifically, referring primarily to FIGS. 13A and 13B, the driveportion 3724 of the second slider 3720 is engaged with an annular groove3824 defined in the drive disc 3820. When the second slider 3720 ispushed proximally by the robotic surgical system, the second slider 3720pushes the drive disc 3820 proximally. Similarly, the second slider 3720pushes the drive disc 3820 distally when the second slider 3720 is moveddistally. Moreover, the drive disc 3820 is rotatable relative to thesecond slider 3720. As a result, the drive disc 3820 can rotate with theshaft assembly 4000, and relative to the second slider 3720, when theshaft assembly 4000 is rotated about the longitudinal axis LA. As willbe described in greater detail below, the drive disc 3820 is part of anarray of drive discs 3800 that are configured to perform variousfunctions of the surgical instrument 4000. Notably, though, the firstslider 3710 is not directly engaged with any of the drive discs of thedrive disc array 3800. Rather, the first slider 3710 is only engagedwith the drive disc 3820 via the pinion gear 2896 and the second slider3720.

Referring to FIG. 13C, the drive disc 3820 is mounted to a closure tube3120 of the transmission assembly 3000. More specifically, the closuretube 3120 comprises a hexagonal tube portion 3128 extending through ahexagonal aperture defined in the drive disc 3820 which is mounted tothe drive disc 3820 via a set screw. The closure tube 3120 is mounted tothe drive disc 3820 such that the closure tube 3120 and the drive disc3820 translate and rotate together. In use, the closure tube 3120 ismovable from a proximal position (FIG. 13C) to a distal position (FIG.13D) during a closure stroke to close the second jaw 4220 of the endeffector 4200. Correspondingly, the closure tube 3120 is movable from adistal position (FIG. 13D) to a proximal position (FIG. 13C) during anopening stroke to open the second jaw 4220. The housing 3100 of thetransmission 3000 is configured to limit the closure and opening strokesof the closure tube 3120. More specifically, the transmission housing3100 comprises a cavity 3116 defined therein which comprises a distalend wall configured to limit the closure stroke and a proximal end wallconfigured to limit the opening stroke. A flange, or stop, 3126extending from the closure tube 3120 is configured to engage the distaland proximal end walls during the closure and opening strokes,respectively.

Further to the above, the closure tube 3120 of the transmission assembly3000 does not directly engage the second jaw 4220. Rather, referringprimarily to FIG. 3, the closure tube 3120 is operably coupled with aclosure tube 4120 of the shaft assembly 4000 which engages the secondjaw 4220. The closure tube 3120 comprises a distal end 3122 which isconfigured to be mated with a proximal end 4122 of the closure tube 4120such that the closure tube 3120 and the closure tube 4120 translate androtate together. Referring primarily to FIG. 6, the closure tube 4120comprises an elongate tube portion 4123 and, in addition, a distal tubeportion 4128 rotatably connected to a distal end 4124 of the elongatetube portion 4123. More specifically, the distal tube portion 4128 isrotatably connected to the elongate tube portion 4123 by one or morelinks 4126 which are configured to permit the end effector 4200 toarticulate relative to the shaft 4100. Referring primarily to FIGS. 9and 10, the distal tube portion 4128 comprises a cam 4129 definedthereon which is configured to engage a cam surface 4229 defined on thesecond jaw 4220 and rotate the second jaw 4220 from an open, unclampedposition (FIG. 9) to a closed, clamped position (FIG. 10) when theclosure tube 4120 is advanced distally. Referring to FIGS. 11 and 12,the distal tube portion 4125 comprises one or more windows 4127 definedtherein and the second jaw 4220 comprises one or more projections 4227extending into the windows 4127. When the closure tube 4120 is retractedproximally, distal endwalls of the windows 4127 engage the projections4227 of the second jaw 4220 and rotate the second jaw 4220 from aclosed, clamped position (FIG. 10) to an open, unclamped position (FIG.9).

Referring again to FIGS. 21-29, the third slider 3730 of the sliderassembly 3700 comprises a third input socket, or cup, 3732 extendingtherefrom. The third input socket 3732 is configured to be pushedproximally by a third linear actuator of the robotic surgical system inorder to push the third slider 3730 proximally. Notably, the thirdlinear actuator is not attached to the third input socket 3732 in amanner which permits the third linear actuator to pull the third slider3730 distally. Similarly, the fourth slider 3740 comprises a fourthinput socket, or cup, 3742 extending therefrom. The fourth input socket3742 is configured to be pushed proximally by a fourth linear actuatorof the robotic surgical system in order to push the fourth slider 3740proximally. Notably, the fourth linear actuator is not attached to thefourth input socket 3742 in a manner which permits the fourth linearactuator to pull the fourth slider 3740 distally. Referring primarily toFIGS. 27-29, the housing 3100 of the transmission 3000 is configured toconstrain the motion of the sliders 3730 and 3740 to longitudinal, or atleast substantially longitudinal, paths within the housing 3100.

Further to the above, referring primarily to FIGS. 13C, 13D, and 28, thedrive disc array 3800 further comprises a drive disc 3830 and a drivedisc 3840. The third slider 3730 comprises a drive portion 3734 engagedwith an annular groove 3834 defined in the drive disc 3830. When thethird slider 3730 is pushed proximally by the robotic surgical system,the third slider 3730 pushes the drive disc 3830 proximally. Moreover,the drive disc 3830 is rotatable relative to the third slider 3730. As aresult, the drive disc 3830 can rotate with the shaft assembly 4000, andrelative to the slider 3730, when the shaft assembly 4000 is rotatedabout the longitudinal axis LA. Similarly, the fourth slider 3740comprises a drive portion 3744 engaged with an annular groove 3844defined in the drive disc 3840. When the fourth slider 3740 is pushedproximally by the robotic surgical system, the fourth slider 3740 pushesthe drive disc 3840 proximally. Moreover, the drive disc 3840 isrotatable relative to the fourth slider 3740. As a result, the drivedisc 3840 can rotate with the shaft assembly 4000, and relative to thefourth slider 3740, when the shaft assembly 4000 is rotated about thelongitudinal axis LA.

Referring primarily to FIGS. 11, 12, and 28, a first articulation driver3410 is mounted to the drive disc 3830. The first articulation driver3410 comprises a proximal end 3414 (FIG. 7) fastened to the drive disc3830 such that the first articulation driver 3410 and the drive disc3830 translate and rotate together. When the drive disc 3830 is movedproximally by the third slider 3730, as described above, the firstarticulation driver 3410 is pulled proximally to articulate the endeffector 4200 in a first direction, or to the right (FIG. 11). Thatsaid, the first articulation driver 3410 is not directly engaged withthe end effector 4200. Rather, referring to primarily to FIGS. 6 and 7,the first articulation driver 3410 of the transmission assembly 3000 isoperably coupled with a first articulation driver 4410 of the shaftassembly 4000, wherein the first articulation driver 4410 is directlyengaged with the end effector 4200. The first articulation driver 4410comprises a proximal end 4412 which is operably engaged with a distalend 3412 of the first articulation driver 3410 and, also, a distal end4414 which is operably engaged with the first jaw 4210 of the endeffector 4200.

Referring primarily to FIG. 29, a second articulation driver 3420 ismounted to the drive disc 3840. The second articulation driver 3420comprises a proximal end 3424 (FIG. 7) fastened to the drive disc 3840such that the second articulation driver 3420 and the drive disc 3840translate and rotate together. When the drive disc 3840 is movedproximally by the fourth slider 3740, as described above, the secondarticulation driver 3420 is pulled proximally to articulate the endeffector 4200 in a second direction, or to the left. That said, thesecond articulation driver 3420 is not directly engaged with the endeffector 4200. Rather, referring to primarily to FIGS. 6 and 7, thesecond articulation driver 3420 of the transmission assembly 3000 isoperably coupled with a second articulation driver 4420 of the shaftassembly 4000, wherein the second articulation driver 4420 is directlyengaged with the end effector 4200. The second articulation driver 4420comprises a proximal end 4422 which is operably engaged with a distalend 3422 of the second articulation driver 3420 and, also, a distal end4424 which is operably engaged with the first jaw 4210 of the endeffector 4200.

Further to the above, referring again to FIG. 29, the secondarticulation drivers 3420 and 4420 are back-driven by the end effector4200 when the end effector 4200 is articulated to the right by the firstarticulation drivers 3410 and 4410. Stated another way, the secondarticulation drivers 3420 and 4420, the fourth slider 3740, and thedrive disc 3840 are pulled distally when the first articulation drivers3410 and 4410, the third slider 3730, and the drive disc 3830 are pushedproximally. Correspondingly, the first articulation drivers 3410 and4410 are back-driven by the end effector 4200 when the end effector 4200is articulated to the left by the second articulation drivers 3420 and4420. Stated another way, the first articulation drivers 3410 and 4410,the third slider 3730, and the drive disc 3830 are pulled distally whenthe second articulation drivers 3420 and 4420, the fourth slider 3740,and the drive disc 3840 are pushed proximally.

The surgical instrument 1000 further comprises an articulation lockconfigured to lock the end effector 4200 in position and prevent the endeffector 4200 from articulating relative to the shaft 4100. Thearticulation lock comprises a proximal lock portion 3610 (FIG. 7) in thetransmission assembly 3000 and a distal lock portion 4610 (FIG. 6) inthe shaft assembly 4000. The proximal lock portion 3610 comprises aproximal end 3614 mounted to the drive disc 3820 and, in addition, adistal end 3612. The distal lock portion 4610 comprises a proximal end4612 engaged with the distal end 3612 of the proximal lock portion 3610and, in addition, a distal end 4614 configured to engage the first jaw4210 of the end effector 4200. As a result of the above, thearticulation lock is movable with the closure system of the surgicalinstrument 1000. More particularly, when the second slider 3720 ispushed proximally to open the second jaw 4220 of the end effector 4200,as described above, the articulation lock is moved away from the endeffector 4200 such that the end effector 4200 can be articulated aboutthe articulation joint 4300. Moreover, the articulation lock is movedtoward the end effector 4200 to lock the end effector 4200 in position,whether or not the end effector 4200 is in an articulated orunarticulated position, when the first slider 3710 is pushed proximallyto close the second jaw 4220 of the end effector 4200.

As discussed above, the articulation lock of the surgical instrument1000 is automatically actuated by the closure system. As a result, theend effector 4200 of the surgical instrument 1000 must be articulatedinto position before the end effector 4200 is placed into its closedconfiguration or, alternatively, the end effector 4200 must be re-openedso that the end effector 4200 can be articulated once again. In suchinstances, the end effector 4200 is prevented from articulating whileclamped to the patient tissue. In various alternative embodiments, thearticulation lock of a surgical instrument can be actuated separatelyand is not automatically actuated by any other system of the surgicalinstrument. In such embodiments, the end effector of the surgicalinstrument can be articulated while in a closed configuration and, as aresult, may be able to access smaller spaces within a surgical site.

As discussed above, the sliders 3710, 3720, 3730, and 3740 of the sliderassembly 3700 are pushable distally by the linear actuators of therobotic surgical system. In some instances, the linear actuatorscomprise solenoids that produce a linear output, for example. In variousinstances, the linear actuators can comprise any suitable linear motor,for example. As also discussed above, the linear actuators of therobotic surgical system are configured to push, but not pull, thesliders 3710, 3720, 3730, and 3740. In various other embodiments, theactuators of the robotic surgical system are configured to push and/orpull the sliders 3710, 3720, 3730, and 3740. In such instances, theactuators which operate the sliders 3710 and 3720 can workco-operatively to control the closure system of the surgical instrumentand, similarly, the actuators which operate the sliders 3730 and 3740can work co-operatively to control the articulation system of thesurgical instrument.

As discussed above, the shaft assembly 4000 of the surgical instrument1000 is rotatable about its longitudinal axis LA relative to the housingassembly 2000. Referring primarily to FIGS. 20-23, 28, and 29, thehousing assembly 2000 comprises a rotation drive system 2900 configuredto rotate the shaft assembly 4000 about the longitudinal axis LA. Therotation drive system 2900 comprises a rotatable drive input 2980 whichis operably engageable with a rotary output of the robotic surgicalsystem. The rotatable drive input 2980 extends into an opening 2180(FIG. 22) defined in the housing 2100 of the housing assembly 2000. Thedrive input 2980 comprises a shaft which is rotatably supported by thehousing 2100 and is rotatable in a first direction to rotate the shaftassembly 4000 about the longitudinal axis LA in a first direction and ina second direction to rotate the shaft assembly 4000 about thelongitudinal axis LA in a second direction, as discussed in greaterdetail below.

Further to the above, the rotation drive system 2900 comprises a geartrain configured to transmit the rotation of the drive input 2980 to anoutput shaft 2940. The gear train comprises a pinion gear 2970 fixedlymounted to the drive input 2980 which rotates with the drive input 2980.The gear train further comprises an idler gear 2960 meshingly engagedwith the pinion gear 2970 and, in addition, an output gear 2950meshingly engaged with the idler gear 2960. The output gear 2950 isfixedly mounted to the output shaft 2940 and rotates with the outputshaft 2940. The idler gear 2960 is rotatably mounted to the housing 2100and the output shaft 2940 is rotatably supported by the housing 2100 ofthe housing assembly 2000 and/or the housing 3100 of the transmissionassembly 3000. As a result of the above, the gear train transmits therotation of the drive input 2980 to the output shaft 2940 when the driveinput 2980 is rotated by the robotic surgical instrument.

The rotation drive system 2900 further comprises an elongate spur gear2930 fixedly mounted to the output shaft 2940 which rotates with theoutput shaft 2940. The elongate spur gear 2930 is meshingly engaged witha ring gear 2920 fixedly mounted to the closure tube 3120 of thetransmission assembly 3000 such that the rotation of the output shaft2940 is transmitted to closure tube 3120. As discussed above, theclosure tube 3120 is operably engaged with the closure tube 4120 of theshaft assembly 4000 such that the closure tubes 3120 and 4120 rotatetogether. The closure tube 4120 is keyed to and/or otherwisesufficiently coupled to the other components of the shaft 4100, the endeffector 4200, and the articulation joint 4300 such that the closuretube 4120 rotates the entire shaft assembly 4000 about the longitudinalaxis LA when the closure tube 4120 is rotated by the rotation drivesystem 2900.

As discussed above, the elongate spur gear 2930 is configured totransmit the motion of the rotation drive system 2900 to the closuretube 3120 via the ring gear 2920. The spur gear 2930 is elongate so thatthe spur gear 2930 remains operably engaged, or intermeshed, with thering gear 2920 throughout the closure stroke of the closure tube 3120.Stated another way, the elongate spur gear 2930 is operably engaged withthe ring gear 2920 when the closure tube 3120 is in its open position(FIGS. 13C and 27-29), its closed position (FIG. 13D), and all positionsthere between. As a result, the rotation drive system 2900 can be usedto rotate the shaft assembly 4000 about the longitudinal axis LA whenthe second jaw 4220 is in its open position, its closed position, andall partially closed positions there between. In various instances, as aresult, the elongate spur gear 2930 is as least as long as the closurestroke of the closure tube 3120.

As discussed above, the shaft assembly 4000 of the surgical instrument1000 is configured to staple and incise the tissue captured between thestaple cartridge 4230 positioned in the first jaw 4210 and the anvil ofthe second jaw 4220. Referring primarily to FIGS. 20 and 28, the housingassembly 2000 comprises a firing drive system 2500 configured to advancea firing drive 3500 distally through the end effector 4200 to staple andincise the tissue. The firing drive system 2500 comprises a rotatabledrive input 2550 which is operably engageable with a rotary output ofthe robotic surgical system. The rotatable drive input 2550 extends intoan opening 2150 (FIG. 22) defined in the housing 2100 of the housingassembly 2000. The drive input 2550 comprises a shaft which is rotatablysupported by the housing 2100 and is rotatable in a first direction toadvance the firing drive 3500 distally and, also, a second direction toretract the firing drive 3500 proximally.

The firing drive system 2500 further comprises a first bevel gear 2540fixedly mounted to the drive input 2550 such that the first bevel gear2540 rotates with the drive input 2550. The firing drive system 2500further comprises a second bevel gear 2530 meshingly engaged with thefirst bevel gear 2540 such that the second bevel gear 2530 is rotated bythe first bevel gear 2540. The second bevel gear 2530 is fixedly mountedto a transfer shaft 2520 such that the transfer shaft 2520 rotates withthe second bevel gear 2530. The transfer shaft 2520, or at least an endof the transfer shaft 2520, is rotatably supported by the housing 2100.The firing drive system 2500 also comprises a pinion gear 2510 fixedlymounted to the transfer shaft 2520 such that the pinion gear 2510rotates with the transfer shaft 2520. The pinion gear 2510 is meshinglyengaged with a rack 3510 of the firing drive 3500 which is drivenproximally and distally by the firing drive system 2500, as described ingreater detail below.

Referring primarily to FIG. 26, the rack 3510 of the firing drive 3500is slidably positioned in an aperture 2190 defined in the housing 2100of the housing assembly 2000. The rack 3510 comprises a firstlongitudinal array of teeth 3514 defined on a first lateral side thereofand a second longitudinal array of teeth 3514 defined on a secondlateral side thereof. The pinion gear 2510 of the firing drive system2500, described above, is meshingly engaged with the first longitudinalarray of teeth 3514. As described in greater detail below, the secondlongitudinal array of teeth 3514 is selectively engageable by a firingdrive bailout system. When the drive input 2550 of the firing drivesystem 2500 is rotated in a first direction by the robotic surgicalsystem, the rack 3510 is advanced distally. Correspondingly, the rack3510 is retracted proximally when the drive input 2550 is rotated in asecond, or opposite, direction.

Referring primarily to FIG. 6, further to the above, the firing drive3500 further comprises a firing rod 4510 and a firing bar 4520. The rack3510 of the firing drive 3500 comprises a distal end 3512 which isoperably engaged with a proximal end 4512 of the firing rod 4510 suchthat the rack 3510 and the firing rod 4510 translate together. Notably,the interconnection between the rack 3510 and the firing rod 4510permits the firing rod 4510 to rotate relative to the rack 3510 when theshaft assembly 4000 is rotated relative to the housing assembly 2000 asdescribed above. The firing rod 4510 further comprises a distal end 4514engaged with a proximal end 4524 of the firing bar 4520 such that thefiring rod 4510 and the firing bar 4520 translate together.

The firing bar 4520 comprises a plurality of longitudinally extendingparallel layers; however, embodiments are envisioned in which the firingbar 4520 is comprised of a solid piece of material. The firing bar 4520further comprises a cutting member 4530 at the distal end thereof. Thecutting member 4530 comprises a sharpened knife edge, but can compriseany suitable means for cutting tissue. When the firing drive 3500 isadvanced distally by the firing drive system 2500 during a firingstroke, the cutting member 4530 incises the tissue captured between theanvil of the second jaw 4220 and the staple cartridge 4230. Moreover,the cutting member 4530 pushes a staple firing sled positioned withinthe staple cartridge 4230 distally during the firing stroke to eject thestaples from the staple cartridge 4230. In various instances, the staplefiring sled may not be retracted with the cutting member 4530 when thecutting member 4530 is retracted after the firing stroke. In alternativeembodiments, the staple firing sled can be integrally formed with thecutting member 4530. In such embodiments, the staple firing sled isretracted with the cutting member 4530.

The cutting member 4530 also comprises a first cam configured to engagethe first jaw 4210 and a second cam configured to engage the second jaw4220. The first and second cams co-operatively hold the second jaw 4220in position relative to the staple cartridge 4230 during the firingstroke. In such instances, the firing drive 3500 can control the formingheight of the staples being formed against the anvil of the second jaw4220. In some embodiments, the first and second cams of the cuttingmember 4530 can be used to close the second jaw 4220 during a closurestroke and then hold the second jaw 4220 relative to the first jaw 4210during the firing stroke. In either event, the second jaw 4220 cannot bere-opened to its fully open position to release the tissue from the endeffector 4200 until the cutting member 4530 has been sufficientlyretracted. In alternative embodiments, the cutting member 4530 does notcomprise the first and second cams. In such embodiments, the second jaw4220 can be opened to release the tissue from the end effector 4200prior to the cutting member 4530 being retracted.

In various instances, the robotic surgical system may not be able toretract the firing drive 3500 completely, or at all. Such instances canarise when the robotic surgical system is not operating properly. Suchinstances can also arise when the surgical instrument 1000 has beenoperably decoupled from the robotic surgical system. In either event,turning now to FIGS. 30-32, the surgical instrument comprises a firingsystem bailout 2700. The firing system bailout 2700 is contained in thehousing assembly 2000, but can be located at any suitable location onthe surgical instrument 1000. The firing system bailout 2700 comprises aratchet including a pawl 2710 and a handle 2720. The pawl 2710 isrotatably mounted to the handle 2720 about a pivot 2715 and the handle2720 is rotatably mounted to the housing 2100 about a pivot 2725. Thefiring system bailout 2700 is rotatable from a disengaged, ordeactivated, configuration (FIG. 30) to an engaged, or activated,configuration (FIG. 31) in which the pawl 2710 is operably engaged withthe second longitudinal rack of teeth 3514 of the rack 3510, asdiscussed above. At such point, referring to FIG. 32, the handle 2720can be manually rotated, or cranked, by a clinician to retract the rack3510, the firing rod 4510, and the firing bar 4520. One or more cranksof the handle 2720 can be sufficient to retract the cutting member 4530out of engagement with the second jaw 4220 to permit the second jaw 4220to be sufficiently opened.

Further to the above, the robotic surgical instrument can be used toopen the second jaw 4220 after the firing drive 3500 has beensufficiently retracted, or bailed out. If one or both of the first andsecond linear actuators of the robotic surgical system are not operatingproperly, or the surgical instrument 1000 has been operably detachedfrom the robotic surgical system, the closure system can be bailed outin one or more manners as discussed below.

As discussed above, referring to FIGS. 20-22, the first slider 3710 andthe second slider 3720 are coupled to one another by the pinion gear2896. In the event that the first linear actuator 3710 engaged with thefirst slider 3710 malfunctions and/or the first slider 3710 becomesjammed, for example, the closure system can become jammed or otherwiseinoperable. When the first slider 3710 is stuck in its proximal, oractuated, position, the end effector 4200 can be locked in its closedconfiguration and unreleasable from the tissue. In such instances,referring to FIG. 23, the pinion gear 2896 can be manually lifted out ofengagement with the racks 3716 and 3726 by the bailout pin 2890extending from the housing 2100. Once the pinion gear 2896 has beendisengaged from the racks 3716 and 3726, the sliders 3710 and 3720 areoperably decoupled from one another and can be moved independently ofone another. As a result, the second slider 3720 can be moved proximallyto open the end effector 4200. In various instances, the roboticsurgical system can move the second slider 3720 proximally or,alternatively, the second slider 3720 can be moved manually by aclinician. Once the bailout pin 2890 has been actuated, the secondslider 3720 can also be manually moved distally by a clinician tore-close the end effector 4200, if needed. As a result of the above,this closure system bailout can be operated in a first direction to openthe end effector 4200 and a second direction to close the end effector4200.

Further to the above, the surgical instrument 1000 further comprises aspine extending through the transmission assembly 3000 and the shaftassembly 4000. Referring to FIG. 7, the spine comprises a proximalportion 3112 in the transmission assembly 3100. Referring to FIG. 6, thespine further comprises a spine assembly in the shaft assembly 4000including a connector portion 4112 operably engaged with the proximalportion 3112, an elongate portion 4114 engaged with the connectorportion 4112, a cap portion 4116 attached to the elongate portion 4114,and distal articulation joint mounts 4117 and 4118 attached to theelongate portion 4114. The first jaw 4210 of the end effector 4200 isrotatably connected to the articulation joint mounts 4117 and 4118 toform the articulation joint 2300. The spine portions 3112, 4112, 4114,and 4116, the mounts 4117 and 4118, and the first jaw 4210 are attachedto one another such that they rotate together when the shaft assembly4000 is rotated about the longitudinal axis LA, as discussed above. Inaddition, the second jaw 4220 is attached to the first jaw 4210 suchthat the second jaw 4220 rotates with the first jaw 4210 about thelongitudinal axis LA. Moreover, the components of the spine are attachedto one another in a manner which permits the spine to be translatedproximally and/or distally, as described in greater detail below.

The housing 3100 of the transmission assembly 3000 is fixedly mounted tothe housing 2100 of the housing assembly 2000. In at least one instance,the housing 3100 is fastened to the housing 2100. In certain otherinstances, the housing 3100 is integrally formed with the housing 2100.In either event, the housing 3100 does not rotate relative to thehousing 2100, although embodiments are envisioned in which the Referringnow to FIGS. 14-18, the shaft assembly 1000 further comprises anotherclosure system bailout, i.e., closure system bailout 2800, which isconfigured to open and/or close the end effector 4200. Unlike theclosure system bailout discussed above which moves the closure tubes3120 and 4120 relative to the spine of the surgical instrument 1000, theclosure system bailout 2800 moves the spine relative to the closuretubes 3120 and 4120. Stated another way, the closure system bailout 2800moves the cam surface 4229 of the second jaw 4220 toward and away fromthe cam 4129 of the closure tube 4120 to open and close the second jaw4220. As a result of the above, the closure system bailout 2800 can beoperated in a first direction to open the end effector 4200 and a seconddirection to close the end effector 4200. The closure system bailoutscan be used independently of one another or co-operatively.

The closure system bailout 2800 comprises a rotatable actuator, orthumbwheel, 2860 rotatably mounted by the housing 2100. The closuresystem bailout 2800 further comprises a spur gear 2850 fixedly mountedto the actuator 2860 such that the spur gear 2850 rotates with theactuator 2860 and, in addition, a spur gear 2840 meshingly engaged withthe spur gear 2850. The spur gear 2840 is fixedly mounted to a shaft2830 of the closure system bailout 2800 which is rotatably supported bythe housing 2100 of the housing assembly 2000 and/or the housing 3100 ofthe transmission assembly 3000. The shaft 2830 comprises a threadeddistal end which is threadably engaged with a drive nut 2820 slidablymounted within the housing 3100. When the shaft 2830 is rotated in afirst direction by the actuator 2860, the drive nut 2820 is translateddistally. Correspondingly, the drive nut 2820 is translated proximallywhen the shaft 2830 is rotated in a second direction by the actuator2860. The drive nut 2820 is engaged with a drive flange 2810 extendingfrom the spine of the surgical instrument 1000 such that the spinetranslates with the drive nut 2820. That said, the drive nut 2820 andthe drive flange 2810 are configured to permit relative rotationalmovement there between such that the spine can rotate with the shaftassembly 4000 as discussed above.

As discussed above, the closure bailout system 2800 can be operated in afirst direction to bailout the surgical instrument 1000 into a firstcondition, or configuration, and a second direction to bailout thesurgical instrument 1000 into a second condition, or configuration.Moreover, the closure bailout system 2800 is configured to manipulatethe end effector 4200 between open and closed configurations regardlessof whether the robotic surgical system is operating and/or properlyoperating the first and second sliders 3710 and 3720 of the sliderassembly 3700. That said, the bailout of the slider assembly 3700 can bereleased prior to operating, and/or during the operation of, the closurebailout system 2800. Stated another way, the pinion gear 2896 can bedisengaged from the slider assembly 3700 to relieve the tissue clampingpressure within the end effector 4200 which can reduce the forcerequired to be applied to the thumbwheel 2896 to operate the closurebailout system 2800.

In various alternative embodiments, the closure bailout system 2800, ora closure bailout system similar to the closure bailout system 2800 canbe configured to move the closure system through its closing strokeand/or its opening stroke. For instance, the closure bailout system 2800can be operated in a first direction to move the closure tubes 3120 and4120 distally and a second direction to move the closure tubes 3120 and4120 proximally.

As discussed above, referring primarily to FIGS. 3 and 4, the shaftassembly 4000 is operably attachable to and detachable from thetransmission assembly 3000 of the surgical instrument 1000. The shaftassembly 4000 comprises a proximal connection portion 4900 that isoperably engageable with a distal connection portion 3900 of thetransmission assembly 3000. Referring primarily to FIG. 5, theinterconnection between the connection portions 3900 and 4900 is made bytranslating the connection portion 4900 into engagement with theconnection portion 3900, or vice versa. In at least one instance, theshaft assembly 4000 is moved transversely or orthogonally relative tothe longitudinal axis LA of the surgical instrument 1000 to couple anddecouple the shaft assembly 4000 to the transmission assembly 3000.

When the shaft assembly 4000 is assembled to the transmission assembly3000, the respective components of the spine, the closure system, thearticulation system, the articulation lock system, and the firing systemof the transmission assembly 3000 and the shaft assembly 4000 areoperably engaged at the same time. For instance, referring to FIG. 8,the distal end 3112 of the spine 3110 is engaged with the proximal end4112 of the spring 4110, the distal end 3122 of the closure tube 3120 isengaged with the proximal end 4122 of the closure tube 4120, the distalend 3512 of the rack 3510 is engaged with the proximal end 4512 of thefiring member 4510, the distal end 3612 of the articulation lock 3610 isengaged with the proximal end 4612 of the articulation lock 4610, andthe distal ends 3412 and 3422 of the articulation drivers 3410 and 3420are engaged with the proximal ends 4412 and 4422 of the articulationdrivers 4410 and 4420, respectively.

Further to the above, referring again to FIGS. 4 and 5, the shaftassembly 4000 comprises a shaft lock 4124 which is configured to engagea shaft lock 3124 on the transmission assembly 3000 and lock the shaftassembly 4000 to the transmission assembly 3000 such that the connectionportions 3900 and 4900 of the transmission assembly 3000 and shaftassembly 4000, respectively, remain engaged with each other until theshaft lock 4124 is disengaged from the shaft lock 3124. The shaft lock4124 is translatable distally away from the shaft lock 3124 to unlockthe shaft assembly 4000 from the transmission assembly 3000. At suchpoint, the shaft assembly 4000 can be translated laterally away anddecoupled from the transmission assembly 3000. In such instances, theshaft assembly 4000 can be replaced with another shaft assembly and thesurgical instrument 1000 can be used once again. Moreover, the staplecartridge 4300 can be replaced within the end effector 4200 by anotherstaple cartridge. As a result, the surgical instrument 1000 comprisesseveral layers of modularity.

A surgical instrument 5000 is illustrated in FIGS. 33-66. The surgicalinstrument 5000 is similar to the surgical instrument 1000 in manyrespects, most of which will not be discussed herein for the sake ofbrevity. Referring primarily to FIGS. 33 and 34, the surgical instrument5000 comprises a housing assembly 6000, a transmission assembly 7000mounted to the housing assembly 6000, and a shaft assembly 8000releasably attached to the transmission assembly 7000. The housingassembly 6000 is similar to the housing assembly 2000 in many respects.For instance, the housing assembly 6000 comprises a housing 6100, adrive system 2900 which is configured to rotate the shaft assembly 8000about its lots longitudinal axis LA, and a firing drive system 6500,which are discussed in greater detail below. The transmission assembly7000 is similar to the transmission assembly 3000 in many respects. Forinstance, the transmission assembly 7000 comprises a housing 7100, aslider assembly 7700, and a distal connection portion 7900, which arediscussed in greater detail below. The shaft assembly 8000 is similar tothe shaft assembly 4000 in many respects. For instance, the shaftassembly 8000 comprises a shaft 4100, an end effector 4200, anarticulation joint 4300, and a proximal connection portion 8900, whichare discussed in greater detail below.

Further to the above, referring to FIGS. 35-41, the proximal connectionportion 8900 of the shaft assembly 8000 is rotatably connected to thedistal connection portion 7900 of the transmission assembly 7000. Moreparticularly, the shaft assembly 8000 is rotated relative to thetransmission assembly 7000 in order to couple the shaft assembly 8000 tothe transmission assembly 7000. Referring primarily to FIG. 41, thetransmission assembly 7000 comprises a spine portion 7110 that isengaged with a spine portion 8110 of the shaft assembly 8000. Unlike thespine of the surgical instrument 1000, the spine of the surgicalinstrument 5000 is not translatable proximally and distally, but itcould be in alternative embodiments. Referring to FIG. 43, the proximalend of the spine portion 7110 comprises a flange 7111 extendingtherefrom which is closely received in a lateral slot 7101 defined inthe transmission housing 7100 which prevents the spine from movingproximally and distally relative to the transmission housing 7100. Thatsaid, the flange 7111 and the lateral slot 7101 are configured to permitrotational motion between the spine portion 7110 and the transmissionhousing 7100 so that the shaft assembly 8000 can rotate relative to thetransmission assembly 7000.

Further to the above, referring again to FIG. 41, the spine portion 7110is comprised of two lateral portions 7112 which are coupled together bya connector 7114 (FIG. 37). Such an arrangement can facilitate theassembly of the components of the transmission assembly 7000; however,embodiments are envisioned in which the spine portion 7110 is comprisedof a solid piece of material. Similarly, the spine portion 8110 iscomprised of two lateral portions 8112 which are coupled together. Also,similarly, such an arrangement can facilitate the assembly of thecomponents of the shaft assembly 8000, although embodiments areenvisioned in which the spine portion 8110 is comprised of a solid pieceof material. Each lateral spine portion 7112 comprises a distal endincluding at least one hook connector 7111 extending therefrom and,also, each lateral spine portion 8112 comprises a distal end includingat least one hook connector 8111 extending therefrom. When the shaftassembly 8000 is rotatably assembled to the transmission assembly 7000,the hook connectors 8111 engage the hook connectors 7111. In suchinstances, the spine portion 8110 is locked to the spine portion 7110such that there is little, if any, relative longitudinal movement therebetween.

Further to the above, referring again to FIG. 41, each lateral portion7112 comprises at least one stop 7113 extending therefrom. Similarly,each lateral portion 8112 comprises at least one stop 8113 extendingtherefrom. When the spine portion 8110 of the shaft assembly 8000 isrotated relative to the spine portion 7110 of the transmission assembly7000, the stops 7113 and 8113 can co-operate to limit the rotationalmovement between the spine portion 8110 and the spine portion 7110.Referring primarily to FIGS. 39 and 40, the shaft assembly 8000comprises a shaft lock 8124 which is configured to engage a shaft lock7124 of the transmission assembly 7100 and hold the spine portions 7110and 8110 together. After the shaft assembly 8000 has been rotatablycoupled to the transmission assembly 7000, the shaft lock 8124 can beslid proximally along the longitudinal axis LA to engage the shaft lock7124. The shaft lock 8124 comprises flexible lock members 8923 which areconfigured to be inserted into lock windows 7123 defined in the shaftlock 7124. In various instances, the lock members 8923 can engage aledge defined in the shaft lock 7124 in a snap-fit and/or press-fitmanner to couple the shaft locks 7124 and 8124 together. In someinstances, the shaft lock 8124 may need to be at least partially rotatedrelative to the shaft lock 7124 to lock the shaft locks 7124 and 8124together. In any event, once engaged, the shaft locks 7124 and 8124prevent the spine portions 7110 and 8100 from becoming unintentionallyuncoupled. In order to uncouple the spine portions 7110 and 8110, buttonportions 8920 of the lock members 8923 can be depressed by a clinicianto disengage the lock members 8923 from the shaft lock 7124. Referringprimarily to FIG. 40, each lock member 8923 comprises an end 8925fixedly mounted to the shaft lock 8124 such that the lock members 8923are flexed, or cantilevered, inwardly when the button portions 8920 aredepressed. At such point, the shaft assembly 8000 can be rotatablydetached from the transmission assembly 7000. When the button portions8920 are released, the lock member 8923 can resiliently return to theirunflexed positions.

Further to the above, the shaft locks 7124 and 8124 are also configuredto hold together interconnections within the closure system, thearticulation system, the articulation lock system, and the firing systemof the surgical instrument 5000 when the shaft lock 8124 is engaged withthe shaft lock 7124. Each such system, referring primarily to FIG. 41,comprises a portion within the transmission assembly 7000 and a portionwithin the shaft assembly 8000 that are operably engaged at theinterface between the distal connection portion 7900 and the proximalconnection portion 8900 when the shaft assembly 8000 is rotatablycoupled to the transmission assembly 7000, as described in greaterdetail below.

The articulation system of the surgical instrument 5000 is similar tothe articulation system of the surgical instrument 1000 in manyrespects. Referring primarily to FIGS. 35 and 37, the transmissionassembly 7000 comprises a first articulation driver 7410 and a secondarticulation driver 7420 which are similar to the first articulationdriver 3410 and the second articulation driver 3420, respectively.Similarly, the shaft assembly 8000 comprises a first articulation driver8410 and a second articulation driver 8420 which are similar to thefirst articulation driver 4410 and the second articulation driver 4420,respectively. Notably, though, the first articulation driver 7410comprises a distal end 7412 which is rotatably coupled to a proximal end8412 of the articulation driver 8410 when the shaft assembly 8000 isrotatably coupled to the transmission assembly 7000. Similarly, thesecond articulation driver 7420 comprises a distal end 7422 which isrotatably coupled to a proximal end 8422 of the articulation driver 8420when the shaft assembly 8000 is rotatably coupled to the transmissionassembly 7000.

The articulation lock system of the surgical instrument 5000 is similarto the articulation lock system of the surgical instrument 1000 in manyrespects. Referring again to FIGS. 35 and 37, the transmission assembly7000 comprises a proximal lock portion 7610 which is similar to theproximal lock portion 3610. Similarly, the shaft assembly 8000 comprisesa distal lock portion 8610 which is similar to the distal lock portion4610. Notably, though, the proximal lock portion 7610 comprises a distalend 7612 which is rotatably coupled to a proximal end 8612 of the distallock portion 8610 when the shaft assembly 8000 is rotatably coupled tothe transmission assembly 7000.

The closure system of the surgical instrument 5000 is similar to theclosure system of the surgical instrument 1000 in many respects.Referring to FIGS. 35, 37, and 39, the transmission assembly 7000comprises a closure tube 7120 which is similar to the closure tube 3120in many respects. Similarly, the shaft assembly 8000 comprises a closuretube 8120 which is similar to the closure tube 4120 in many respects.Notably, though, the closure tube 7120 comprises a distal end 7122 whichis rotatably coupled to a proximal end 8122 of the closure tube 8120when the shaft assembly 8000 is rotatably coupled to the transmissionassembly 7000. Referring primarily to FIG. 39, the distal end 7122 ofthe closure tube 7120 comprises one or more bayonet, or twist-to-lock,slots 7121 defined therein. The proximal end 8122 of the closure tube8120 comprises one or more bayonet projections which are configured tobe translated into the slots 7121 and then rotated to seat them in theslots 7121 when the shaft assembly 8000 is rotatably coupled to thetransmission assembly 7000. The distal end 7122 comprises two bayonetslots 7121 positioned on opposite sides thereof and the proximal end8122 comprises two corresponding bayonet projections positioned onopposite sides thereof, but the ends 7122 and 8122 of the closure tubes7120 and 8120 can include any suitable number of bayonet slots 7121 andprojections.

Similar to the above, a firing system 7500 of the surgical instrument5000 is similar to the firing system 3500 of the surgical instrument1000 in many respects. Referring to FIGS. 35, 37, and 39, thetransmission assembly 7000 comprises a firing rod 7510 which is similarto the rack 3510 in many respects. Similarly, the shaft assembly 8000comprises a firing member 8510 which is similar to the firing member4510 in many respects. Notably, though, the firing rod 7510 comprises adistal end 7512 which is rotatably coupled to a proximal end 8512 of thefiring member 8510 when the shaft assembly 8000 is rotatably coupled tothe transmission assembly 7000. Referring primarily to FIG. 39, thedistal end 7512 of the firing rod 7510 comprises one or more bayonet, ortwist-to-lock, slots 7511 defined therein. The proximal end 8512 of thefiring member 8510 comprises one or more bayonet projections 8511 whichare configured to be translated into the slots 7511 and then rotated toseat them in the slots 7511 when the shaft assembly 8000 is rotatablycoupled to the transmission assembly 7000. The distal end 7512 of thefiring rod 7510 comprises two bayonet slots 7511 positioned on oppositesides thereof and the proximal end 8512 of the firing member 8510comprises two corresponding bayonet projections 8511 positioned onopposite sides thereof. That said, the ends 7512 and 8512 of the firingrod 7510 and firing member 8510 can include any suitable number ofbayonet slots 7511 and projections 8511.

As discussed above, referring again to FIG. 41, the interconnectionswithin the closure system, the articulation system, the articulationlock system, and the firing system are operably engageable at theinterface between the distal connection portion 7900 and the proximalconnection portion 8900 when the shaft assembly 8000 is rotatablycoupled to the transmission assembly 7000. In various instances, each ofthese systems is in a home state when the shaft assembly 8000 isassembled to the transmission assembly 7000 which can allow the shaftassembly 8000 to be easily assembled to the transmission assembly 7000.For instance, embodiments are contemplated in which the home state ofthe closure system, the articulation system, the articulation locksystem, and/or the firing system occurs at the beginning or end of thesystem strokes. In at least one such instance, the home state of theclosure system of the surgical instrument 5000 is at the beginning ofthe closure stroke when the end effector 4200 is in its fully openposition. Similarly, in at least one such instance, the home state ofthe firing system of the surgical instrument 5000 is at the beginning,or unfired position, of the firing stroke.

The above being said, designing the systems of the surgical instrument5000 such that they are coupled and/or decoupled at the beginning or endof their system strokes may have certain drawbacks. For instance, theinterconnection between the closure tubes 7120 and 8120 may be laterallyunconstrained at the beginning of the closure system stroke and, as aresult, the closure tubes 7120 and 8120 may be prone to uncoupling asthe closure system is loaded at the beginning of its closure stroke ifthe home state for coupling and decoupling the closure tubes 7120 and8120 is at the beginning of the closure stroke. Moreover, the closuretubes 7120 and 8120 may be prone to uncoupling at the end of the closurestroke—where the loading in the closure system may be at a peak level—ifthe home state for coupling or decoupling the closure tubes 7120 and8120 is at the end of the closure stroke. Similarly, the interconnectionbetween the firing rod 7510 and the firing member 8510 may be laterallyunconstrained at the beginning of the firing system stroke and, as aresult, the firing rod 7510 and firing member 8510 may be prone touncoupling as the firing system is loaded at the beginning of its firingstroke if the home state for coupling and decoupling the firing rod 7510and the firing member 8510 is at the beginning of the firing stroke.Moreover, the firing rod 7510 and the firing member 8510 may be prone touncoupling at certain points within the firing stroke in which thefiring system experiences high or peak loading. As described in greaterdetail below, designing the various systems of the surgical instrument5000 such that their coupling or decoupling home states are not at thebeginning or end of their system strokes, or aligned with their peakloading points, can reduce the unintended coupling of their systems.

The above being said, the home state for coupling and decoupling theclosure tube 7120 and 8120 of the surgical instrument 5000 isintermediate the beginning and the end of the closure stroke. After theclosure tube 8120 has been operably coupled to the closure tube 7120,the closure system can be retracted proximally to its unactuated, oropen, position to align the closure tubes 7120 and 8120 with thebeginning of the closure stroke. At such point, the interconnectionbetween the closure tubes 7120 and 8120 is constrained from deflectinglaterally by the spine of the surgical instrument 5000. During theclosure stroke, the interconnection between the closure tubes 7120 and8120 will pass by the home state of the closure system; however, thehome state can be selected such that it is aligned with a low loadingcondition of the closure system. In order to decouple the closure tubes7120 and 8120, the closure system is returned to its home state.

As discussed above, the articulation lock system and the closure systemof the surgical instrument 5000 are operably coupled such that they movein tandem. As such, the home state of the articulation lock system ofthe surgical instrument 5000 is between the beginning and the end of itsarticulation lock stroke. In at least one instance, the articulationlock portion 8610 is operably coupled to and decoupled with thearticulation lock 7610 when the closure tube 8120 is operably coupled toand decoupled with the closure tube 7120 at a location which is not atthe beginning or end of the articulation lock and closure strokes. Thatsaid, embodiments are envisioned in which the articulation lock systemand the closure system of a surgical instrument are operatedindependently and, in at least one such embodiment, can have differentand/or independent home positions.

The above being said, the home state for coupling and decoupling thefiring rod 7510 and the firing member 8510 of the surgical instrument5000 is intermediate the beginning and the end of the firing stroke.After the firing member 8510 has been operably coupled to the firing rod7510, the firing system can be retracted proximally to its unactuated,or unfired, position to align the firing rod 7510 and firing member 8510with the beginning of the firing stroke. At such point, theinterconnection between the firing rod 7510 and firing member 8510 isconstrained from deflecting laterally by the spine of the surgicalinstrument 5000. During the firing stroke, the interconnection betweenthe firing rod 7510 and the firing member 8510 will pass by the homestate of the firing system; however, the home state can be selected suchthat it is aligned with a low loading condition of the firing system. Inorder to decouple the firing rod 7510 and firing member 8510, the firingsystem is returned to its home state.

Similar to the above, the home state for the articulation system of thesurgical instrument 5000 can be selected to prevent the accidentaldecoupling of the articulation drivers 7410, 7420, 8410, and 8420. Incertain instances, the articulation system can be configured such thatthe articulation drivers 7410, 7420, 8410, and 8420 are coupled anddecoupled when the end effector 4200 is in its unarticulatedconfiguration. In other instances, the articulation system can beconfigured such that the articulation drivers 7410, 7420, 8410, and 8420are coupled and decoupled when the end effector 4200 is partiallyarticulated between its unarticulated configuration and afully-articulated configuration. In such instances, the articulationdrivers 7410, 7420, 8410, and 8420 are coupled and decoupled when theend effector is not in is unarticulated position or a fully-articulatedposition. Similar to the above, the end effector 4200 may sweep throughits home position when the end effector 4200 is being articulated.

Alternatively, the home position of the closure system, the articulationsystem, the articulation lock system, and/or the firing system is notwithin the operating stroke of these systems. In such instances, thecoupling and decoupling points of one or more of these systems isoutside of their operating zones. For instance, the home state of theclosure system can be positioned proximal to the beginning of theclosure stroke. In such instances, the closure tube 8120 is coupled tothe closure tube 7120 in a home state of the closure system and thenadvanced distally into the unactuated, or open, position of the closuresystem. In addition to or in lieu of the above, the firing member 8510can be coupled to the firing rod 7510 in a home state of the firingsystem and then advanced distally into the unfired position of thefiring system. In various instances, the components of these systemshave sufficient flexibility to accommodate such out-of-range assemblyand disassembly positions. In at least one instance, there is sufficientslop in the systems to accommodate such assembly and disassemblypositions. In some instances, the systems are capable of sufficientlystretching to accommodate such assembly and disassembly positions.

In various instances, further to the above, the robotic surgical systemcan be configured to move the systems of the surgical instrument 5000from their home positions to their beginning of stroke, unactuated, orneutral positions, as the case may be, once the shaft assembly 8000 hasbeen operably attached to the transmission assembly 7000. In at leastone instance, the robotic surgical system and/or surgical instrument5000 comprises a home-to-ready button and/or control that instructs thecontroller of the robotic surgical system to move the closure system toits open position, the articulation system to its unarticulatedposition, the articulation lock system to its unlocked position, and thefiring system to its unfired position. Similarly, the robotic surgicalsystem can be configured to move the systems of the surgical instrument5000 to their home positions so that the shaft assembly 8000 can bedisassembled from the transmission assembly 7000. In at least oneinstance, the robotic surgical system and/or surgical instrument 5000comprises a home button and/or control that instructs the controller ofthe robotic surgical system to move the closure system, the articulationsystem, the articulation lock system, and the firing system to theirhome positions.

The robotic surgical system and/or the surgical instrument 5000 cancomprise a control system configured to detect the assembly and/ordisassembly of the shaft assembly 8000 and the transmission assembly7000. In at least one instance, the control system comprises amicroprocessor and the transmission housing 7100 comprises one or moresensors in signal communication with the microprocessor which areconfigured to detect when the shaft assembly 8000 is unassembled to thetransmission assembly 7000, partially assembled to the transmissionassembly 7000, and/or fully assembled to the transmission assembly 7000.The control system is programmed to interpret this sensed informationaccording to an algorithm to determine if the shaft assembly 8000 isbeing assembled to the transmission assembly 7000 or if the shaftassembly 8000 is being disassembled from the transmission assembly 7000.For instance, the control system can interpret that the shaft assembly8000 is being assembled to the transmission assembly 7000 if the sensorsdetect a partially assembled condition of the shaft assembly 8000 afterdetecting an unassembled condition of the shaft assembly 8000.Similarly, the control system can interpret that the shaft assembly 8000is being disassembled from the transmission assembly 7000 if the sensorsdetect a partially assembled condition of the shaft assembly 8000 afterdetecting a fully assembled condition of the shaft assembly 8000.

When the control system detects that the shaft assembly 8000 is beingassembled to the transmission assembly 7000, further to the above, thecontrol system can automatically position the closure, articulation,articulation locking, and/or firing systems of the transmission assembly7000 in their home conditions to facilitate the assembly of the shaftassembly 8000 to the transmission assembly 7000. Once the control systemdetects that the shaft assembly 8000 has been fully assembled to thetransmission assembly 7000, the control system can automatically set theclosure system to its unactuated condition, the articulation system toits unarticulated condition, the articulation lock system to itsunlocked condition, and/or the firing system to its unfired condition.

When the control system detects that the shaft assembly 8000 is beingdisassembled from the transmission assembly 7000, further to the above,the control system can automatically position the closure, articulation,articulation locking, and/or firing systems of the transmission assembly7000 in their home conditions to facilitate the disassembly of the shaftassembly 8000 from the transmission assembly 7000. The above being said,embodiments are envisioned in which the control system does notautomatically change the condition of one or more of the closure,articulation, articulation lock, and firing systems. In at least onesuch embodiment, the control system can comprise one or more switches orinputs in which the automatic control features of the closure system,the articulation system, the articulation lock system, and/or the firingsystem can be selectively activated, deactivated, and/or re-activated.

In various instances, referring to FIG. 39, the transmission assembly7000 and/or the shaft assembly 8000 comprises one or more sensorsconfigured to detect the rotation of the shaft assembly 8000 relative tothe transmission assembly 7000 to determine whether the shaft assembly8000 is being assembled to or disassembled from the transmissionassembly 7000. In certain instances, the transmission assembly 7000and/or the shaft assembly 8000 comprises one or more sensors configuredto detect the depression of the button portions 8920 and/or theactuation of the lock members 8923 to determine whether the shaftassembly 8000 is being assembled to or disassembled from thetransmission assembly 7000. In at least one instance, the control systemcan be configured to evaluate more than one condition of the surgicalinstrument 5000, such as the rotation of the shaft assembly 8000relative to the transmission assembly 7000 and the depression of thebutton portions 8920, for example, to determine whether the shaftassembly 8000 is being assembled to or disassembled from thetransmission assembly 7000. Such an arrangement can reduce thepossibility of inaccurate assessments of the surgical instrument 5000,among other things.

As described herein, instances will arise when the movable components ofthe shaft assembly 8000 will not be aligned with the correspondingmovable components of the transmission assembly 7000 when the shaftassembly 8000 is assembled to the transmission assembly 7000. In someinstances, the movable components of the transmission assembly 7000 andthe shaft assembly 8000 have enough float, or slop, therein whichpermits such components to align, or self-adjust, themselves during theassembly of the shaft assembly to the transmission assembly 7000. Inother instances, one or more of the systems of the surgical instrument5000 is manually manipulatable to align the movable components of thetransmission assembly 7000 and the shaft assembly 8000. As discussedherein, the housing assembly 6000 and/or the transmission assembly 7000comprise one or more bailout systems which can be manually manipulatedto align the movable components of the surgical instrument 5000.

As discussed above, the transmission assembly 7000 comprises a sliderassembly 7700 which is configured to receive linear inputs from arobotic surgical instrument to operate the closure and articulationsystems of the surgical instrument 5000. The slider assembly 7700 issimilar to the slider assembly 3700 in many respects. For instance,referring to FIGS. 42-50, the slider assembly 7700 comprises a firstslider 7710, the second slider 3720, the third slider 3730, and thefourth slider 3740. Similar to the slider assembly 3700, referring toFIG. 43, the second slider 3720 of the slider assembly 7700 is engagedwith the drive disc 3820 of the drive disc array 3800 and is movableproximally to open the end effector 4200. Unlike the first slider 3710of the slider assembly 3700, however, the first slider 7710 of theslider assembly 7700 is also directly engaged with the drive disc 3820,as illustrated in FIG. 44. As a result, the first slider 7710 and thesecond slider 3720 of the slider assembly 7700 move in the samedirection. In order to pull the first and second sliders 7710 and 3720distally to close the end effector 4200, one of the first and secondlinear actuators is attached to the first and second sliders 7710 and3720 such that the robotic surgical system can apply a pulling forcethereto. In at least one instance, the first linear actuator of therobotic surgical system is attached to a first input socket 7712 of thefirst slider 7710 so that the first linear actuator can pull the firstslider 7710 proximally.

Further to the above, the second drive socket 3722 is fixedly mounted tothe second slider 3720, the third drive socket 3732 is fixedly mountedto the third slider 3730, and the fourth drive socket 3742 is fixedlymounted to the fourth slider 3740. Referring to FIGS. 46-47C, however,the first drive socket 7712 is rotatably mounted to the first slider7710 of the slider assembly 7700. The first drive socket 7712 comprisesan arm, or link, 7714 that is rotatably mounted to the first slider 7710about a post 7716 extending through an elongate aperture 7718 defined inan end of the arm 7714. Such an arrangement comprises a two-bar linkage,although any suitable arrangement can be used. As described in detailfurther below, the first slider 7710 can be manually manipulated tobailout the closure drive of the surgical instrument 5000.

In addition to being rotatably mounted to the first slider 7710, thefirst drive socket 7712 is also selectively pinned, or pinnable, to thetransmission housing 7100 by a bailout pin 7790. The transmissionhousing 7100 comprises pin mounts 7414 extending therefrom which includepin apertures extending there through that are aligned with a pinaperture defined in the arm 7714 of the first drive socket 7712 when thebailout pin 7790 is engaged with the first drive socket 7712 and thehousing 7100. The bailout pin 7790 comprises a pin shaft 7794 thatextends through the pin apertures defined in the pin mounts 7414 and thefirst drive socket 7712 and prevents relative translation between thefirst drive socket 7712 and the transmission housing 7100. Thisarrangement, however, permits relative rotation between the first drivesocket 7712 and the transmission housing 7100. For instance, referringto FIG. 47A, the first drive socket 7712 is rotated into adistal-rotated position when the first slider 7710 is pushed proximally.Moreover, referring to FIG. 47B, the first drive socket 7712 is rotatedinto a proximal-rotated position when the first slider 7710 is pusheddistally.

Further to the above, referring to FIG. 48, the engagement between thefirst drive socket 7712 and the transmission housing 7100 can at leastpartially resist or constrain the movement of the first slider 7710 andthe closure system. As a result, the bailout pin 7790 can hold clampingpressure within the end effector 4200 when the end effector 4200 is inits closed position. When the bailout pin 7790 is pulled, or disengaged,from the first drive socket 7712 by a clinician, as illustrated in FIG.47C, the first drive socket 7712 is no longer coupled to thetransmission housing 3100. In such instances, the first slider 7710 canreact, or can be moved by the clinician, to release at least some of theclamping pressure within the end effector 4200, as illustrated in FIG.49.

As discussed above, the slider assembly 7700 is also configured tooperate the articulation system of the surgical instrument 5000.Referring to FIG. 43, the third slider 3730 is engaged with the drivedisc 3830 which is engaged with the first articulation driver 7410 suchthat, when the third slider 3730 is moved proximally, the third slider3730 drives the drive disc 3830 and the first articulation driver 7410proximally to articulate the end effector 4200 in its first direction,i.e., to the right. Referring to FIG. 44, the fourth slider 3740 isengaged with the drive disc 3840 which is engaged with the secondarticulation driver 7420 such that, when the fourth slider 3740 is movedproximally, the fourth slider 3740 drives the drive disc 3840 and thesecond articulation driver 7420 proximally to articulate the endeffector 4200 in its second direction, i.e., to the left.

Referring to FIGS. 51-65A, the surgical instrument 5000 furthercomprises an articulation system bailout 6800 which is configured toreturn the end effector 4200 to its unarticulated position. As describedin greater detail below, the articulation system bailout 6800 isoperable in a first direction to move the end effector 4200 from aright-articulated position (FIG. 62) to its unarticulated position (FIG.64) and, also, operable in a second direction to move the end effector4200 from a left-articulated position (FIG. 63) to its unarticulatedposition (FIG. 64). In various instances, the articulation systembailout 6800 can be used to change the articulated position of the endeffector 4200 as needed. In any event, referring primarily to FIGS. 57and 58, the articulation system bailout 6800 is positioned in thehousing 6100 of the housing assembly 6000 and is accessible by opening abailout door 6090 which is rotatably mounted to the housing 6100 abouthinges 6020. The housing assembly 6000 comprises at least one lock orlatch which is configured to releasably hold the bailout door 6090 inits closed position (FIG. 57) but releasably permit the bailout door6090 to be rotated into its open position (FIG. 58).

Referring primarily to FIG. 65A, the articulation system bailout 6800comprises a handle, or crank, 6810 which is rotatably mounted to thehousing 6100 and, also, a spur gear 6820 fixedly mounted to the handle6810. As a result, the handle 6810 and the spur gear 6820 are rotatabletogether. The articulation system bailout 6800 further comprises a spurgear 6830 fixedly mounted to a proximal end of a rotatable shaft 6840which is rotatably supported within the housing 6100. As described ingreater detail below, the spur gear 6820 is engageable with the spurgear 6830 such that rotational motion can be transmitted from the handle6810 to the shaft 6840. The articulation system bailout 6800 furthercomprises a bevel gear 6850 fixedly mounted to a distal end of the shaft6840 and, in addition, a bevel gear 6860 meshingly engaged with thebevel gear 6850. The bevel gear 6860 is fixedly mounted to a transfershaft 6870 which is rotatably supported in the housing 6100 and extendsorthogonally, or at least substantially orthogonally, to the shaft 6840.The articulation system bailout 6800 further comprises a pinion gear6880 fixedly mounted to the transfer shaft 6870 which, as a result,rotates with the bevel gear 6860 and the transfer shaft 6870.

Further to the above, referring again to FIG. 65A, the third slider 3730of the slider assembly 7700 comprises a rack 7730 extending proximallytherefrom. Similarly, the fourth slider 3740 of the slider assembly 7700comprises a rack 7740 extending proximally therefrom. Each rack 7730,7740 comprises an inwardly-facing longitudinal rack of teeth which ismeshingly engaged with the pinion gear 6880 of the articulation systembailout 6800. As a result, the third slider 3730 drives the fourthslider 3740 distally when the third slider 3730 is moved proximally toarticulate the end effector 4200 to the right. Similarly, the fourthslider 3740 drives the third slider 3730 distally when the fourth slider3740 is moved proximally to articulate the end effector 4200 to theleft. Moreover, the articulation system bailout 6800 drives the thirdslider 3730 proximally and the fourth slider 3740 distally when thepinion gear 6880 is rotated in a first direction to articulate the endeffector 4200 in its first direction, i.e., to the right, as illustratedin FIG. 66 and, correspondingly, the articulation system bailout 6800drives the third slider 3730 distally and the fourth slider 3740proximally when the pinion gear 6880 is rotated in a second, oropposite, direction to articulate the end effector 4200 in its seconddirection, i.e., to the left.

As a result of the above, the articulation system bailout 6800 can beactuated in a first direction to bailout the articulation system in onedirection and actuated in a second direction to bailout the articulationsystem in another direction. In various instances, the handle 6810 isrotated in clockwise and counterclockwise directions to drive thearticulation system bailout 6800 in its first and second directions.Such a dual-direction bailout system can be adapted to any of thebailout systems disclosed herein and/or any other suitable bailoutsystem of a surgical instrument.

As mentioned above, the spur gear 6820 of the articulation systembailout 6800 is engageable with the spur gear 6830. More specifically,the spur gear 6820 is held out of operable engagement with the spur gear6830 when the bailout door 6090 is in its closed position, asillustrated in FIG. 61, and then operably engaged with the spur gear6830 when the bailout door 6090 is opened, as illustrated in FIGS. 58and 62-64. Referring primarily to FIG. 58, the bailout door 6090comprises a standoff 6010 extending therefrom which is configured todisplace the spur gear 6820, and the handle 6810, distally out ofoperable engagement with the spur gear 6830 and/or hold the spur gear6820 out of operable engagement with the spur gear 6830 when the bailoutdoor 6090 is in its closed position (FIG. 61). In such instances, thestandoff 6010 is positioned intermediate the spur gear 6820 and asidewall of the housing 6100. When the bailout door 6090 is opened,referring again to FIG. 58, the standoff 6010 is no longer positionedbetween the spur gear 6820 and the sidewall of the housing 6100. In suchinstances, the clinician can grab the handle 6810 and slide the handle6810 distally to operably engage the spur gear 6820 with the spur gear6830. In some embodiments, the articulation system bailout 6800comprises a biasing member, such as a spring, for example, configured tobias the handle 6810 distally when the bailout door 6090 is opened andautomatically couple the spur gear 6820 with the spur gear 6830.

Once the spur gear 6820 of the articulation system bailout 6800 isoperably coupled with the spur gear 6830, the handle 6810 can be rotatedin a first direction to articulate the end effector 4200 in its firstdirection, i.e., to the right, and in a second direction to articulatethe end effector 4200 in its second direction, i.e., to the left, asdiscussed above. In various instances, the articulation system bailout6800 is configured such that a quarter turn, or revolution, of thehandle 6810 can articulate the end effector 4200 from its unarticulatedposition to its fully-right articulated position, for example.Similarly, in such instances, a quarter turn, or revolution, of thehandle 6810 in the opposite direction can articulate the end effector4200 from its unarticulated position to its fully-left articulatedposition. In other embodiments, the handle 6810 is rotatable less than aquarter turn or more than a quarter turn to fully articulate the endeffector 4200 from its unarticulated position, i.e., to either itsfully-right or fully-left articulated position. In at least oneembodiment, the handle 6810 is rotated more than a full revolution tofully articulate the end effector 4200 from its unarticulated position,i.e., to either its fully-right or fully-left articulated position. Incertain embodiments, the handle 6810 can comprise a two-directionalratchet, for example, configured so that the end effector 4200 can befully articulated without having to rotate the handle 6810 through alarge range of positions.

In various instances, further to the above, the clinician attempting toarticulate the end effector 4200 to its unarticulated position using thearticulation system bailout 6800 may not be able to see the end effector4200 at the same time that they are using the articulation systembailout 6800. In at least one such instance, the end effector 4200 maystill be positioned in a patient, for example. Without more, as aresult, the clinician may not know the direction in which to turn thehandle 6810 and/or how much to turn the handle 6810 in order to suitablyposition the end effector 4200. Referring primarily to FIG. 58, thesurgical instrument 5000 further comprises an indicator 6890 which isconfigured to convey sufficient information to the clinician to returnthe end effector 4200 to its unarticulated position, for example.Referring now to FIG. 65A, the indicator 6890 is fixedly mounted to thetransfer shaft 6870 and is rotatable with the transfer shaft 6870 whenthe transfer shaft 6870 is rotated by the racks 7730 and 7740 extendingproximally from the third slider 3730 and the fourth slider 3740,respectively, and/or when the transfer shaft 6870 is rotated by thearticulation system bailout 6800. Referring primarily to FIGS. 62-64,the housing 6100 of the housing assembly 6000 further comprisesdemarcations R, C, and L defined thereon and, when the end effector 4200is in its unarticulated position (FIG. 64), the indicator 6890 points tothe C, or center, demarcation. When the end effector 4200 is in itsfully-right articulated position (FIG. 62), the indicator 6890 points tothe R demarcation. Similarly, the indicator 6890 points to the Ldemarcation when the end effector 4200 is in its fully-left articulatedposition. Any other suitable arrangement and/or demarcations may beused. In at least one instance, the indicator comprises an electronicindicator, for example.

In various instances, the housing assembly 6000 can further comprise adetent which can at least inhibit the motion of the articulation systembailout 4200 once the end effector 4200 has reached its unarticulated,or centered, position. In certain instances, the detent can beconfigured to permit the end effector 4200 to pass through itsunarticulated position to the opposite side but can provide some form offeedback to the clinician. In various instances, the feedback can betactile and/or auditory, for example. In some instances, the housingassembly 6000 can comprise a hard stop which can prevent the endeffector 4200 from being manually articulated past its unarticulatedposition.

Referring to FIGS. 51-56, the housing assembly 6000 of the surgicalinstrument 5000 comprises a firing drive system 6500 configured toadvance and retract the firing drive 7500. The firing drive system 6500comprises a rotatable drive input 6590 which is operably engageable witha rotary output of the robotic surgical instrument. The firing driveinput 6590 is rotatably supported by the housing 6100 and is accessiblethrough the opening 2150 defined in the housing 6100. The firing drivesystem 6500 further comprises a bevel gear 6580 fixedly mounted to thefiring drive input 6590 such that the bevel gear 6580 rotates with thefiring drive input 6590 and, in addition, a bevel gear 6570 meshinglyengaged with the bevel gear 6580 such that the bevel gear 6570 isrotated by the bevel gear 6580.

Further to the above, the firing drive system 6500 further comprises atransfer shaft 6560 and a spur gear 6550. The bevel gear 6570 is fixedlymounted to the transfer shaft 6560 such that the transfer shaft 6560 isrotated by the bevel gear 6570. The transfer shaft 6560 is rotatablysupported by the housing 6100 and the spur gear 6550 is fixedly mountedto the transfer shaft 6560 such that the spur gear 6550 rotates with thetransfer shaft 6560. The firing drive system 6500 further comprises aspur gear 6540, a translatable shaft 6530, and a bevel gear 6520. Thespur gear 6540 and the bevel gear 6520 are fixedly mounted to thetranslatable shaft 6530 and rotate with translatable shaft 6530.Referring to FIG. 54, the translatable shaft 6530 is positionable in adrive position in which the spur gear 6540 is meshingly engaged with thespur gear 6550 and, also, the bevel gear 6520 is meshingly engaged witha bevel gear 6510 threadably engaged with a threaded portion of thefiring rod 7510 of the firing system 7500. In such a position of thetranslatable shaft 6530, the rotation of the firing drive input 6590 istransferrable to the firing rod 7510. In use, the firing rod 7510 istranslated distally to perform a firing stroke when the bevel gear 6510is rotated in a first direction by the robotic surgical system andtranslated proximally to perform a retraction stroke when the bevel gear6510 is rotated in a second, or opposite, direction by the roboticsurgical system.

Further to the above, referring to FIG. 55, the translatable shaft 6530is slidably supported by the housing 6100 between its drive position,discussed above, and a bailed out position, discussed below. When thetranslatable shaft 6530 is moved into its bailed out position from itsdrive position, the bevel gear 6520 is lifted away and out of engagementwith the bevel gear 6510. Stated another way, the bevel gear 6520 is notoperably engaged with the bevel gear 6510 when the shaft 6530 is in itsbailed out position. The shaft 6530 comprises a bailout knob 6790fixedly mounted thereto which is configured to be manually lifted by aclinician to operably disengage the bevel gear 6520 from the bevel gear6510 and decouple the robotic surgical system from the firing drive7500. In such instances, the rotation of the firing drive input 6590 isnot transferrable to the bevel gear 6510 and, as a result, the firingrod 7510 is not translatable by the robotic surgical system via thefiring drive system 6500. In order to recouple the robotic surgicalsystem with the firing drive system 7500, the translatable shaft 6530can be returned to its drive position (FIG. 54) to operably re-engagethe bevel gear 6520 with the bevel gear 6510.

Further to the above, the surgical instrument 5000 further comprises afiring system bailout 6700. The firing system bailout 6700 comprises adrive gear 6710 meshingly engaged with the bevel gear 6510 and, inaddition, a handle 6730 including an internal ratchet pawl 6720. Theinternal ratchet pawl 6720 is positioned within a window, or opening,defined in the handle 6730 and is rotatably mounted to the handle 6730about a pin. Notably, the drive gear 6710 and the handle 6730 arerotatable about a common pin and/or axis of rotation. When the handle6730 is rotated from its position illustrated in FIG. 55 to its positionillustrated in FIG. 56, the ratchet pawl 6720 engages an inner array ofteeth defined on the drive gear 6710 and, at that point, the handle 6730can be used to rotate the drive gear 6710. In such instances, therotation of the drive gear 6710 is transmitted to the bevel gear 6510which translates, or retracts, the firing rod 7510 of the firing drive7500 proximally.

Notably, further to the above, the inner array of teeth defined on thedrive gear 6710 that is driven by the ratchet pawl 6720 is not engagedwith the bevel gear 6510; rather, an outer array of teeth defined on thedrive gear 6710 is meshingly engaged with the bevel gear 6710 that isdifferent than the inner array of teeth engaged by the ratchet pawl6720. When the handle 6730 is rotated back from its position illustratedin FIG. 56 to its position illustrated in FIG. 55, the ratchet pawl 6720slides over the teeth of the drive gear 6710 without back-driving, or atleast substantially back-driving, the drive gear 6710. Once the handle6730 has been reset, or at least substantially reset, into the positionillustrated in FIG. 55, the handle 6730 can be rotated once again tofurther retract the firing rod 7510. This process can be repeated asmany times as necessary until the firing rod 7510 has been sufficientlyretracted to permit the end effector 4200 to be re-opened.

In many instances, further to the above, the surgical instrument 5000has been operably decoupled from the robotic surgical instrument whenthe firing system bailout 6700 is used to retract the firing drive 7500.In such instances, the bailout knob 6790 may not have to be pulled toretract the firing drive 7500 as the firing drive 7500 is no longeroperably coupled with the robotic surgical system. That said, thebailout knob 6790 can be pulled to operably decouple the firing driveinput 6590 from the firing drive 7500, if desired. In other instances,the surgical instrument 5000 may still be operably coupled to therobotic surgical system when the firing system bailout 6700 is used toretract the firing drive 7500. In such instances, it may be difficultfor the firing system bailout 6700 to overcome inertia and/or resistancewithin the rotary drive of the robotic surgical system and, as a result,pulling the bailout knob 6790 to operably decouple the firing drive 7500from the firing drive input 6590 may be helpful.

Robotic surgical systems can be used with various types of surgicalinstruments which are attachable to a common robotic output interface. Auser may detach a surgical instrument attachment from the robotic outputinterface and then attach a different surgical instrument attachment tothe robotic output interface in its place. The first surgical instrumentattachment and the second surgical instrument attachment may perform thesame functions or different functions. In either event, it can beadvantageous to provide a sterile barrier between the surgicalinstrument attachment and the robotic output interface to limit thecontamination of the reusable robotic output interface. In variousinstances, the surgical instrument attachments are configured to beattached to and detached from a sterile adapter while the sterileadapter is attached to the robotic output interface. The sterile adapterprovides a sterile barrier between the surgical instrument attachmentand the robotic output interface while also permitting the operablecoupling of the robotic output interface with the surgical instrumentattachment so that the robotic output interface may actuate the drivesystems of the surgical instrument attachment.

In current designs, an intermediate attachment portion between asurgical instrument attachment and a common robotic output interfacerequires idler drivetrain interfaces to couple the outputs of therobotic output interface with the inputs of the surgical instrumentattachments. In such designs, the outputs of the robotic outputinterface not only drive the inputs of the surgical instrumentattachment but, also, the idler drivetrain interfaces of theintermediate attachment portion. This presents a challenge to aclinician when trying to remove the surgical instrument attachment fromthe adapter when the drive systems of the surgical instrument attachmentare jammed, and/or, are in an overloaded state, for instance. When thesurgical instrument attachment is jammed, the clinician is not onlyfaced with the task of defeating the primary means of attaching theintermediate attachment portion and the surgical instrument attachment,the clinician must also battle the pressure being applied to the idlerdrivetrain interfaces by the drive systems of the surgical instrumentattachment. Thus, providing a sterile adapter that does not require adriving interface between the surgical instrument attachment, thesterile adapter, and the robotic output interface can provide previouslyunavailable advantages.

Referring now to FIGS. 67-71, a surgical instrument assembly 10000comprises a surgical instrument attachment 10100 and a sterile adapter10200. The sterile adapter 10200 is configured to be attached to anddetached from a robotic output interface. The surgical instrumentattachment 10100 is configured to be attached to and detached from thesterile adapter 10200 such that one or more drives of the surgicalinstrument attachment 10100 can be directly actuated by one or morecorresponding drive outputs of the robotic output interface. Thesurgical instrument attachment 10100 comprises an attachment interfaceportion 10110 (FIG. 69) configured to be received by the sterile adapter10200 and a main body portion 10150 comprising various components 10170(FIG. 69) of one or more drives of the surgical instrument attachment10100. The attachment interface portion 10110 and the main body portion10150 of the surgical instrument attachment 10100 share a common shroud,or housing, 10101.

Referring now to FIG. 68, the surgical instrument attachment 10100comprises one or more linearly actuatable drives. Each linearly actuateddrive comprises a slider 10160, an actuation arm 10161 extending fromthe slider 10160, and a shaft 10162. Each slider 10160 is slidablymounted to a shaft 10162. Each linearly actuated drive further comprisesa spring 10164 configured to bias the slider 10160 in the proximaldirection. Each slider 10160 comprises a drive mount portion 10163 andeach of the linearly actuated drives further comprises a linear driveoutput 10165 attached to their respective drive mount portion 10163.When the sliders 10160 are actuated and translate relative to the shafts10162, the linear drive outputs 10165 translate relative to the shafts10162 to affect various functions of the surgical instrument attachment10100. The sliders 10160 may be actuated independently and/orsimultaneously. Each actuation arm 10161 is configured to translatewithin a longitudinal aperture 10103 defined in the housing 10101 whenthe actuation arm 10161 is actuated by the robotic output interface.

Further to the above, the surgical instrument attachment 10100 furthercomprises one more rotary drives 10180, 10190. The rotary drive 10180comprises a drive input 10181 configured to be coupled with a driveoutput of the robotic output interface, a flexible drive member 10182,and a drive shaft 10183 coupled to the drive input 10181 by the flexibledrive member 10182. The drive shaft 10183 comprises a rotary driveoutput 10184 mounted thereto and is configured to affect a function ofthe surgical instrument attachment 10100. The rotary drive 10190comprises a drive input 10191 configured to be coupled with a driveoutput of the robotic output interface, a flexible drive member 10192,and a drive shaft 10193 coupled to the drive input 10191 by the flexibledrive member 10192. The drive shaft 10193 is concentric with the driveshaft 10183 and comprises a rotary drive output configured to affect afunction of the surgical instrument attachment 10100.

Apertures, or cavities, 10211 are provided in the sterile adapter 10200to permit the actuation arms 10161 to be coupled to corresponding driveoutputs of the robotic output interface. The sterile adapter 10200comprises two side portions 10210, wherein each side portion 10210comprises two cavities 10211 providing a total of four passageways—onefor each actuation arm 10161. As a result, the actuation arms 10161 ofthe sliders 10160 can be coupled to four corresponding drive outputs ofthe robotic interface and can move longitudinally within thecorresponding cavities 10211. Embodiments are envisioned comprising morethan or less than four sliders 10160 and, in such embodiments, thesterile adapter 10200 can comprise any suitable number of cavities 10211to accommodate the sliders 10160. The sterile adapter 10200 furthercomprises an alignment aperture 10213 defined in a mating face 10201 ofthe sterile adapter 10200. The alignment aperture 10213 is configured toreceive an alignment projection 10113 of the attachment interfaceportion 10110. The alignment projection 10113 extends distally from amating face 10102 of the housing 10101 of the surgical instrumentattachment 10100 and is a primary support feature of the attachment ofthe surgical instrument attachment 10100 and the sterile adapter 10200.

To attach the surgical instrument attachment 10100 to the sterileadapter 10200 and, thus, couple the actuation arms 10161 to the driveoutputs of the robotic output interface, the alignment projection 10113is aligned with the aperture 10213 and the surgical instrumentattachment 10100 is pushed or pulled distally to approximate the matingface 10102 of the surgical instrument attachment 10100 with the matingface 10201 of the sterile adapter 10200. Upon the approximation of themating faces 10102, 10201, projections 10220 of the sterile adapter10200 are received within apertures 10106 defined in the housing 10101and are configured to engage corresponding latching mechanisms of theattachment interface portion 10110. Each latching mechanism comprises,one, a lever 10120 pivotably mounted to a spine 10114 of the surgicalinstrument attachment 10100 by a pin 10112 and, two, a spring 10115configured to bias the lever 10120 into a locked configuration (FIGS. 69and 71). A stop pin 10117 is also provided in the sterile adapter 11200for each lever 10120 to prevent the levers 10120 from rotating beyondtheir locked configuration. Each spring 10115 is grounded to the spine10114 and is mounted to a lever 10120 via a protrusion 10122 defined onthe lever 10120. The projections 10220 of the sterile adapter 10200 areconfigured to engage the levers 10120 such that, when the sterileadapter 10200 and the surgical instrument attachment 10100 are fullyattached to each other, the projections 10220 are configured to hold thelevers 10120 in their locked configurations and hold the surgicalinstrument attachment 10100 to the sterile adapter 10200.

Further to the above, each lever 10120 comprises an engagement surface10121 that is engaged by a corresponding engagement surface 10221defined on a projection 10220 when the mating faces 10201, 10102 areapproximated to connect the surgical instrument attachment 10100 to thesterile adapter 10200. During an initial stage of the approximation, theprojections 10220 overcome the spring biasing force applied to thelevers 10120 by the springs 10115 and rotate the levers 10120 about thepins 10112 toward an unlocked configuration (FIG. 70). Once the matingfaces 10201, 10102 are fully approximated, or, once the engagementsurface 10121 is distal to the engagement surface 10221, the springs10115 cause the levers 10120 to spring back into their lockedconfiguration (FIG. 71). In their locked configuration, each projection10220 comprises a proximal ledge that hooks onto and releasably holdsthe levers 10120 in position.

To detach the surgical instrument attachment 10100 from the sterileadapter 10200, a user can squeeze proximal portions 10123 of the levers10120 inwardly, or toward each other, within the openings 10105 definedin the housing 10101. Squeezing the levers 10120 to overcome the springforces applied to the levers 10120 by the springs 10115 permits thesurgical instrument attachment 10100 to be pulled away from the sterileadapter 10200. In such instances, the levers 10120 are rotated away fromthe stop pins 10117 and into a position in which the engagement surfaces10121, 10221 are at least substantially parallel to each other to permitthe projections 10220 to disengage from the latching mechanisms, orlevers 10120, and to permit the projections 10220 to be retracted backthrough the apertures 10106. The surgical instrument attachment 10100can then be removed away from the sterile adapter 10200 and, because thesterile adapter 10200 is not directly engaged with the linearlyactuatable arms 10161, the removal of the surgical instrument attachment10100 does not involve overcoming residual forces applied to thelinearly actuatable arms 10161 by the drive outputs of the roboticoutput interface. Once the projections 10220 are disengaged from thelevers 10120, the levers 10120 can be released and biased back intotheir locked configuration by the springs 10115.

Referring now to FIGS. 72-77, a surgical instrument assembly 11000comprises a surgical instrument attachment 11100 and a sterile adapter11200. Similar to the sterile adapter 10200, the sterile adapter 11200is configured to be attached to and detached from a robotic outputinterface. The surgical instrument attachment 11100 is configured to beattached to and detached from the sterile adapter 11200 such that one ormore drives of the surgical instrument attachment 11100 can be directlyactuated by one or more corresponding drive outputs of the roboticoutput interface. The surgical instrument attachment 11100 comprises anattachment interface portion 11110 (FIG. 73) configured to be receivedwithin the sterile adapter 11200 and a main body portion 11150comprising various components 11170 (FIG. 73) of one or more drives ofthe surgical instrument attachment 11100. The attachment interfaceportion 11110 and the main body portion 11150 of the surgical instrumentattachment 11100 share a common shroud, or housing, 11101, although theattachment interface portion 11110 and the main body portion 11150 cancomprise separate housings.

The surgical instrument attachment 11100 comprises the same linearactuatable drives discussed above. Each actuation arm 10161 isconfigured to translate within a longitudinal aperture 11103 defined inthe housing 11101 when the actuation arm 10161 is actuated by therobotic output interface. Apertures, or cavities, 11211 are provided inthe sterile adapter 11200 to permit the actuation arms 10161 to becoupled to corresponding drive outputs of the robotic output interface.The sterile adapter 11200 comprises two side portions 11210, whereineach side portion 11210 comprises two cavities 11211 providing a totalof four passageways—one for each actuation arm 10161. As a result, theactuation arms 10161 can be coupled to four corresponding drive outputsof the robotic interface and can move longitudinally within thecorresponding cavities 11211. Embodiments are envisioned comprising morethan or less than four sliders 10160 and, in such embodiments, thesterile adapter 11200 can comprise any suitable number of cavities 11211to accommodate the sliders 10160. The sterile adapter 11200 furthercomprises an alignment aperture 11213 defined in a mating face 11201 ofthe sterile adapter 11200. The alignment aperture 11213 is configured toreceive an alignment projection 11113 of the attachment interfaceportion 11110 and extends distally from a mating face 11102 of thehousing 11101 of the surgical instrument attachment 11100. The alignmentprojection 11113 is a primary support feature of the attachment of thesurgical instrument attachment 11100 and the sterile adapter 11200.

To attach the surgical instrument attachment 11100 to the sterileadapter 11200 and, thus, couple the actuation arms 10161 to the driveoutputs of the robotic output interface, the alignment projection 11113is aligned with the aperture 11213 and the surgical instrumentattachment 11100 is pushed or pulled distally to approximate the matingface 11102 of the surgical instrument attachment 11100 with the matingface 11201 of the sterile adapter 11200. Upon the approximation of themating faces 11102, 11201, a projection 11220 of the sterile adapter11200 is received within an aperture 11105 defined in the housing 11101and engage a corresponding latching mechanism of the attachmentinterface portion 11110. Although only one latching mechanism isillustrated, more than one latching mechanism is contemplated. Eachlatching mechanism comprises a lever 11120 pivotably mounted to a spine11114 of the surgical instrument attachment 11100 by a pin 11112, a cam11130 nested within the lever 11120 and pivotably mounted to the spine11114 by a pin 11117, and a spring 11115 grounded to the spine 11114configured to bias the lever 11120 and the cam 11130 into a lockedconfiguration (FIGS. 73 and 75). The projection 11220 is configured toengage the lever 11120 and the cam 11130 such that, when the sterileadapter 11200 and the surgical instrument attachment 11100 are fullyattached to each other, the projection 11220 is configured to hold thelever 11120 in its locked configuration to hold the surgical instrumentattachment 11100 to the sterile adapter 11200.

Further to the above, the cam 11130 comprises an unlock surface 11131that is engaged by an engagement surface 11221 defined on the projection11220 when the mating faces 11201, 11102 are approximated to connect thesurgical instrument attachment 11100 to the sterile adapter 11200.During an initial stage of the approximation, referring to FIG. 73, theprojection 11220 overcomes the spring biasing force applied to the lever11120 by the spring 11115. When the engagement surface 11221 engages theunlock surface 11131, referring to FIG. 74, the cam 11130 is rotatedabout the pin 11117. When the cam 11130 is rotated about the pin 11117,a lobe 11135 of the cam 11130 pushes on an engagement surface 11125 ofthe lever 11120 to rotate the lever 11120 toward its unlockedconfiguration (FIG. 74). Once the mating faces 11201, 11102 are fullyapproximated, or, once a lock surface 11223 of the projection 11220clears, or is proximal to, the engagement surface 11131 of the cam11130, the spring 11115 causes the lever 11120 to spring back into itslocked configuration (FIG. 75). In its locked configuration, referringto FIG. 75, the projection 11220 comprises a proximal ledge that hooksonto and releasably holds the lever 11120. More specifically, the locksurface 11223 of the projection 11220 is configured to hold onto asnail-shaped portion 11133 of the cam 11130 which is prevented fromrotating by the engagement of a holding surface 11126 of the lever 11120and the lobe 11135 (FIG. 75).

Referring now to FIG. 76, a user can squeeze a proximal portion 11123 ofthe lever 11120 within the opening 11105 defined in the housing 11101 tocompress the spring 11115 and detach the surgical instrument attachment11100 from the sterile adapter 11200. Squeezing the lever 11120 andovercoming the spring force applied to the lever 11120 by the spring11115 permits the lobe 11135 of the cam 11130 to clear the holdingsurface 11126 of the lever 11120. Once the lobe 11135 can rotate pastthe holding surface 11126, the surgical instrument attachment 11100 canbe pulled proximally from the sterile adapter 11200 to a partiallydetached state. When the surgical instrument attachment 11100 is pulledout of the sterile adapter 11200, the lock surface 11223 of theprojection 11220 pulls on the snail-shaped portion 11133 of the cam11130 thereby rotating the cam 11130 into an unlocked position. Once theengagement surface 11221 of the projection 11220 clears the snail-shapedportion 11133 of the cam 11130, referring to FIG. 77, the spring 11115biases the lever 11120 and the cam 11130 back into their lockedconfiguration. At such point, the projection 11220 and the latchingmechanism 11120 are then disengaged to permit the projection 11220 to beretracted back through the aperture 11105. The surgical instrumentattachment 11100 can then be removed from the sterile adapter 11200 in aproximal direction and, because the sterile adapter 11200 is notdirectly engaged with the linearly actuatable arms 10161 of the surgicalinstrument attachment 11100, the removal of the surgical instrumentattachment 11100 does not involve overcoming residual force applied tothe linearly actuatable arms 10161 by the drive outputs of the roboticoutput interface. In other words, the means for attaching the surgicalinstrument attachment 11100 to the sterile adapter 11200 is independentof the means for engaging the drive outputs with the linearly actuatablearms 10161.

As discussed above, the surgical instruments disclosed herein can beoperably attached to a robotic surgical system, such as the roboticsurgical system 9000 depicted in FIG. 78, for example. In variousinstances, the robotic surgical system 9000 comprises one or more armsconfigured to manipulate one or more of the surgical instrumentsdisclosed herein. Various robotic surgical systems are disclosed in U.S.Patent No. 2012/0298719, entitled SURGICAL STAPLING INSTRUMENTS WITHROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, filed May 27, 2011, now U.S.Pat. No. 9,072,535, the entire disclosure of which is incorporated byreference herein. Moreover, the surgical instruments disclosed hereincan be adapted to be operably attached to a handle of a handheldsurgical system.

EXAMPLES Example 1

A method for bailing out a robotic surgical attachment attached to asurgical robot, the method comprising the steps of disengaging a driveoutput of the surgical robot with an actuator of the robotic surgicalattachment, detaching the robotic surgical attachment from the surgicalrobot, and actuating a closure bailout of the robotic surgicalattachment in a first direction to open jaws of an end effector of therobotic surgical attachment and a second direction to close jaws of theend effector.

Example 2

The method of Example 1, wherein the disengaging step comprises pullinga pin to decouple the drive output and the actuator.

Example 3

The method of Examples 1 or 2, wherein the disengaging step can occurbefore or after the detaching step.

Example 4

The method of Examples 1, 2, or 3, further comprising the step ofactuating a firing bailout to retract a firing member of the roboticsurgical attachment.

Example 5

The method of Examples 1, 2, 3, or 4, further comprising the step ofactuating an additional bailout to selectively open and close the jawsof the end effector of the robotic surgical attachment.

Example 6

The method of Example 5, wherein the step of actuating the additionalbailout can occur before or after the disengaging step.

Example 7

The method of Examples 5 or 6, wherein the additional bailout isconfigured to translate a spine member of the robotic surgicalattachment relative to a closure tube of the robotic surgicalattachment, and wherein the closure bailout is configured to translatethe closure tube relative to the spine member.

Example 8

The method of Examples 1, 2, 3, 4, 5, 6, or 7, wherein the end effectoris configured to be articulated relative to a shaft of the roboticsurgical attachment, and wherein the method further comprises the stepof actuating an articulation bailout to unarticulate the end effector ofthe robotic surgical attachment.

Example 9

A method of bailing out a surgical instrument assembly attached to acontrol interface, the method comprising the steps of actuating a firingbailout to retract a firing member of the surgical instrument assembly,actuating a first closure bailout to unclamp tissue within an endeffector of the surgical instrument assembly, actuating a second closurebailout to unclamp tissue within an end effector of the surgicalinstrument assembly, actuating the first closure bailout or the secondclosure bailout to clamp the end effector, removing the surgicalinstrument assembly from a patient through a trocar, and detaching thesurgical instrument assembly from the control interface.

Example 10

The method of Example 9, wherein the first closure bailout is configuredto translate a spine member of the surgical instrument assembly relativeto a closure tube of the surgical instrument assembly.

Example 11

The method of Example 10, wherein the second closure bailout isconfigured to translate the closure tube relative to the spine member.

Example 12

A method of bailing out a surgical instrument assembly attached to acontrol interface, the method comprising the steps of actuating anoperating system of the surgical instrument assembly through anoperating stroke, actuating a manually-driven bailout system to at leastpartially retract the operating system, and activating themanually-driven bailout system to at least partially advance theoperating system through the operating stroke.

Example 13

A surgical instrument assembly configured to be attached to and detachedfrom a surgical robot, wherein the surgical instrument assemblycomprises a firing system, a closure system, a shaft, and an endeffector comprising a first jaw, a second jaw, a clamped configuration,and an unclamped configuration, wherein the closure system is configuredto be actuated by the surgical robot to selectively place the endeffector into the clamped configuration and the unclamped configurationwhen the surgical instrument assembly is operably attached to thesurgical robot. The surgical instrument assembly further comprises amanually-actuatable bailout configured to actuate the closure system tomanually place the end effector into the clamped configuration and theunclamped configuration when the surgical instrument assembly isdetached from the surgical robot.

Example 14

The surgical instrument assembly of Example 13, wherein the shaftcomprises a spine, wherein the closure system comprises a closure tube,wherein the closure tube is configured to be actuated in a firstdirection to place the end effector into the clamped configuration andin a second direction to place the end effector into the unclampedconfiguration, and wherein the first direction is opposite the seconddirection.

Example 15

The surgical instrument assembly of Example 14, wherein themanually-actuatable bailout is configured to actuate the spine in thefirst direction to place the end effector in the unclamped configurationand in the second direction to place the end effector in the clampedconfiguration.

Example 16

The surgical instrument assembly of Examples 14 or 15, wherein themanually-actuatable bailout comprises a rotary drive input, a drivescrew configured to be actuated by the rotary drive input, and anactuator portion coupled to the drive screw and the spine.

Example 17

The surgical instrument assembly of Examples 13, 14, 15, or 16, whereinthe closure system comprises a linearly-actuatable drive portionconfigured to be actuated by a drive output of the surgical robot, andwherein the linearly-actuatable drive portion is further configured tobe manually actuated when the surgical instrument assembly is detachedfrom the surgical robot.

Example 18

The surgical instrument assembly of Examples 13, 14, 15, 16, or 17,further comprising an articulation system configured to articulate theend effector relative to the shaft, wherein the articulation systemcomprises actuators configured to be manually actuated when the surgicalinstrument assembly is detached from the surgical robot.

Example 19

The surgical instrument assembly of Examples 13, 14, 15, 16, 17, or 18,wherein the firing system comprises a firing member movable through afiring stroke, and wherein the firing system further comprises a firingsystem bailout configured to retract the firing member.

Example 20

The surgical instrument assembly of Examples 13, 14, 15, 16, 17, 18, or19, wherein the manually-actuated bailout comprises a firstmanually-actuated bailout, and wherein the surgical instrument assemblyfurther comprises a second manually-actuatable bailout configured toactuate the closure system to manually place the end effector into theclamped configuration and the unclamped configuration when the surgicalinstrument assembly is attached to the surgical robot.

Example 21

The surgical instrument assembly of Examples 13, 14, 15, 16, 17, 18, 19,or 20, further comprising means for operably disengaging a poweredactuator of the surgical robot with a linear actuator of the closuresystem such that the manually-actuatable bailout can be used withoutinterference from the powered actuator of the surgical robot.

Example 22

The surgical instrument assembly of Examples 13, 14, 15, 16, 17, 18, 19,20, or 21, further comprising a staple cartridge comprising a pluralityof staples removably stored therein.

Example 23

A surgical instrument assembly configured to be attached to and detachedfrom a surgical robot, wherein the surgical instrument assemblycomprises a firing system, a closure system, a shaft, and an endeffector comprising a first jaw, a second jaw, a clamped configuration,and an unclamped configuration, wherein the closure system is configuredto be actuated by the surgical robot to place the end effector into theclamped configuration and the unclamped configuration when the surgicalinstrument assembly is attached to the surgical robot. The surgicalinstrument assembly further comprises a first bailout configured toactuate the closure system to manually place the end effector into theclamped configuration and the unclamped configuration when the surgicalinstrument assembly is detached from the surgical robot, and a secondbailout configured to actuate the closure system to manually place theend effector into the clamped configuration and the unclampedconfiguration when the surgical instrument assembly is attached to ordetached from the surgical robot.

Example 24

The surgical instrument assembly of Example 23, wherein the shaftcomprises a spine, wherein the closure system comprises a closure tube,wherein the closure tube is configured to be actuated in a firstdirection to place the end effector into the clamped configuration andin a second direction to place the end effector into the unclampedconfiguration, and wherein the first direction is opposite the seconddirection.

Example 25

The surgical instrument assembly of Example 24, wherein the firstbailout is configured to actuate the spine in the first direction toplace the end effector in the unclamped configuration and in the seconddirection to place the end effector in the clamped configuration.

Example 26

The surgical instrument assembly of Examples 24 or 25, wherein the firstbailout comprises a rotary drive input, a drive screw configured to beactuated by the rotary drive input, and an actuator portion coupled tothe drive screw and the spine.

Example 27

The surgical instrument assembly of Examples 24, 25, or 26, wherein theclosure system comprises a linearly-actuatable drive portion configuredto be actuated by a drive output of the surgical robot to actuate theclosure tube, and wherein the linearly-actuatable drive portioncomprises the second bailout.

Example 28

The surgical instrument assembly of Examples 23, 24, 25, 26, or 27,wherein the firing system comprises a firing member movable through afiring stroke, and wherein the firing system further comprises a firingsystem bailout configured to retract the firing member.

Example 29

The surgical instrument assembly of Examples 23, 24, 25, 26, 27, or 28,further comprising means for operably disengaging a powered actuator ofthe surgical robot with a linear actuator of the closure system suchthat the first bailout can be used without interference from the poweredactuator of the surgical robot.

Example 30

The surgical instrument assembly of Examples 23, 24, 25, 26, 27, 28, or29, further comprising a staple cartridge comprising a plurality ofstaples removably stored therein.

Example 31

A surgical system comprising a surgical instrument attachment assemblycomprising a shaft and an end effector. The surgical system furthercomprises a transmission assembly configured to be operably attached toand detached from a surgical robot, wherein the surgical instrumentattachment assembly is configured to be operably attached to anddetached from the transmission assembly. The transmission assemblycomprises a drive system comprising a drive member movable in a firstdirection during a drive stroke and a second direction during a returnstroke, and a manually-operated bailout configured to selectively movethe drive member in the first and second directions when thetransmission assembly is attached to the surgical robot.

Example 32

The surgical system of Example 31, wherein the manually-operated bailoutis configured to actuate a component of the transmission assembly whichis not otherwise actuated during the drive stroke and the return strokeof the drive member.

Example 33

The surgical system of Examples 31 or 32, wherein the drive systemcomprises a closure drive system configured to clamp and unclamp the endeffector.

Example 34

The surgical system of Examples 31, 32, or 33, further comprising astaple cartridge comprising a plurality of staples removably storedtherein.

Example 35

A surgical instrument assembly configured to be attached to and detachedfrom a surgical robot, wherein the surgical instrument assemblycomprises an articulation system, a shaft, an end effector configured tobe articulated relative to the shaft by way of the articulation systemand an articulation bailout. The articulation bailout comprises abailout engagement feature configured to prevent the articulationbailout from operably engaging the articulation system until thearticulation bailout is activated, position indication means fordisplaying the articulated position of the end effector during the useof the articulation bailout, and a manually-actuatable member configuredto manually actuate the articulation system.

Example 36

The surgical instrument assembly of Example 35, wherein themanually-actuatable member comprises a ratchet mechanism.

Example 37

The surgical instrument assembly of Examples 35 or 36, wherein thearticulation system comprises dual articulation links and dualarticulation drivers, and wherein the position indication means is keyedto the dual articulation drivers.

Example 38

The surgical instrument assembly of Examples 35, 36, or 37, wherein thebailout engagement feature comprises a standoff, wherein themanually-actuatable member is held in a position where the articulationbailout is operably disengaged from the articulation system until thestandoff is moved away from the manually-actuatable member.

Example 39

The surgical instrument assembly of Example 38, wherein the articulationbailout further comprises an activation feature, and wherein thestandoff is positioned on the activation feature such that the standoffpermits the engagement of the articulation bailout with the articulationsystem when the activation feature is activated.

Example 40

The surgical instrument assembly of Example 39, wherein the activationfeature comprises an access door configured to permit the articulationbailout to be accessed when open and prevent the articulation bailoutfrom being accessed when closed.

Example 41

The surgical instrument assembly of Examples 35, 36, 37, 38, 39, or 40,wherein the position indication means comprises an indication dial andantagonistic, dual rack-gears configured to rotate the indication dialwhen the articulation system articulates the end effector.

Example 42

The surgical instrument assembly of Example 41, wherein the positionindication means further comprises a drive shaft and a pinion gear,wherein the pinion gear and the indication dial are coupled to the driveshaft, and wherein the dual rack-gears are configured to move inopposite directions when the end effector is articulated and rotates thepinion gear.

Example 43

The surgical instrument assembly of Examples 35, 36, 37, 38, 39, 40, 41,or 42, further comprising a staple cartridge comprising a plurality ofstaples removably stored therein.

Example 44

A surgical instrument assembly configured to be attached to and detachedfrom a surgical robot, wherein the surgical instrument assemblycomprises a closure system configured to be actuated by a first linearactuator of the surgical robot, an articulation system configured to beactuated by a second linear actuator of the surgical robot, a shaft, anend effector configured to be closed by way of the closure system andarticulated relative to the shaft by way of the articulation system, andan articulation bailout. The articulation bailout comprises amanually-operated actuation member configured to drive the articulationsystem and an articulation position member operably coupled to thearticulation system and configured to indicate the articulated positionof the end effector during the use of the articulation bailout.

Example 45

The surgical instrument assembly of Example 44, wherein themanually-operated actuation member comprises a manually-actuatableratchet mechanism.

Example 46

The surgical instrument assembly of Examples 44 or 45, wherein thearticulation system comprises an articulation link and an articulationdriver, and wherein the articulation position member is operably coupledto the articulation driver.

Example 47

The surgical instrument assembly of Examples 44, 45, or 46, furthercomprising a bailout engagement feature configured to prevent thearticulation bailout from operably engaging the articulation systemuntil the articulation bailout is activated, wherein the bailoutengagement feature comprises a standoff, wherein the manually-operatedactuation member is held in a position where the articulation bailout isoperably disengaged from the articulation system until the standoff ismoved away from the manually-operated actuation member.

Example 48

The surgical instrument assembly of Example 47, wherein the articulationbailout further comprises an activation member, and wherein the standoffis positioned on the activation member such that the standoff permitsthe engagement of the articulation bailout with the articulation systemwhen the activation member activated.

Example 49

The surgical instrument assembly of Example 48, wherein the activationmember comprises an access door configured to permit the articulationbailout to be accessed when open and prevent the articulation bailoutfrom being accessed when closed.

Example 50

The surgical instrument assembly of Examples 44, 45, 46, 47, 48, or 49,wherein the articulation bailout further comprises an articulation dialand antagonistic, dual rack-gears configured to rotate the articulationdial when the articulation system articulates the end effector.

Example 51

The surgical instrument assembly of Example 50, wherein the articulationbailout further comprises a drive shaft and a pinion gear, wherein thepinion gear and the articulation position member are coupled to thedrive shaft, and wherein the dual rack-gears are configured to move inopposite directions when the end effector is articulated and rotates thepinion gear.

Example 52

The surgical instrument assembly of Examples 44, 45, 46, 47, 48, 49, 50,or 51, further comprising a staple cartridge comprising a plurality ofstaples removably stored therein.

Example 53

The surgical instrument assembly of Examples 44, 45, 46, 47, 48, 49, 50,51, or 52, wherein the articulation system comprises an articulationdriver, and wherein the surgical instrument assembly further comprisesmeans for indicating a midpoint position of the articulation driver.

Example 54

A surgical instrument assembly configured to be attached to and detachedfrom a surgical robot, wherein the surgical instrument assemblycomprises a drive system actuatable in a first direction and a seconddirection which is opposite the first direction, wherein the drivesystem is configured to perform an instrument function, a shaft, an endeffector, and a drive system bailout. The drive system bailout comprisesposition indication means for indicating the position of the drivesystem and an actuation member configured to actuate the drive system inthe first direction and the second direction, wherein the direction inwhich the drive system bailout is operated is based on the position ofthe drive system indicated by the position indication means.

Example 55

The surgical instrument assembly of Example 54, wherein the drive systemcomprises an articulation drive system configured to articulate the endeffector relative to the shaft.

Example 56

The surgical instrument assembly of Examples 54 or 55, wherein the endeffector is articulatable between an unarticulated position and aplurality of articulated positions, and wherein the surgical instrumentassembly further comprises a detent configured to indicate theunarticulated position of the end effector.

Example 57

The surgical instrument assembly of Examples 54, 55, or 56, wherein theactuation member comprises a manually-actuatable ratchet mechanism.

Example 58

The surgical instrument assembly of Examples 54, 55, 56, or 57, whereinthe drive system bailout further comprises an activation featureconfigured to prevent the actuation member from being able to actuatethe drive system until the activation feature is disengaged from theactuation member.

Example 59

The surgical instrument assembly of Examples 54, 55, 56, 57, or 58,wherein the actuation member is configured to be manually actuated.

Example 60

The surgical instrument assembly of Examples 54, 55, 56, 57, 58, or 59,further comprising a staple cartridge comprising a plurality of staplesremovably stored therein.

Example 61

A surgical instrument assembly comprising a proximal shaft assemblycomprising a proximal drive member, and a distal shaft assemblyattachable to and detachable from the proximal shaft assembly, whereinthe distal shaft assembly comprises a distal drive member configured tobe coupled to and decoupled from the proximal drive member, wherein thedistal drive member is configured to be actuated through a drive strokeby the proximal drive member to actuate a function of the surgicalinstrument assembly. The drive stroke comprises a beginning of strokeposition, an end of stroke position distal to the beginning of strokeposition, and a home position. The surgical instrument assembly furthercomprises an end effector, wherein the proximal drive member and thedistal drive member are configured to be coupled to and decoupled fromeach other when the proximal drive member and the distal drive memberare in the home position, and wherein the home position is not at thebeginning of stroke position or the end of stroke position.

Example 62

The surgical instrument assembly of Example 61, wherein the homeposition is proximal to the beginning of stroke position.

Example 63

The surgical instrument assembly of Example 61, wherein the homeposition is distal to the beginning of stroke position and proximal tothe end of stroke position.

Example 64

The surgical instrument assembly of Examples 61, 62, or 63, wherein thedrive stroke further comprises at least one interval drive strokeposition corresponding to at least one specific event of the function ofthe surgical instrument assembly, wherein the at least one intervaldrive stroke position is distal to the beginning of stroke position andproximal to the end of stroke position, and wherein the home position isnot at the at least one interval drive stroke position.

Example 65

The surgical instrument assembly of Examples 61, 62, 63, or 64, furthercomprising a control system, wherein the proximal drive member and thedistal drive member are automatically moved to the beginning of strokeposition by the control system after the proximal shaft assembly and thedistal shaft assembly are attached.

Example 66

The surgical instrument assembly of Examples 61, 62, 63, 64, or 65,wherein the proximal drive member and the distal drive member areautomatically moved to the home position when the distal shaft assemblyis uncoupled from the proximal shaft assembly.

Example 67

The surgical instrument assembly of Examples 61, 62, 63, 64, 65, or 66,wherein the proximal drive member is a first proximal drive member andthe distal drive member is a first distal drive member, wherein theproximal shaft assembly further comprises a second proximal drive memberand the distal shaft assembly further comprises a second distal drivemember, and wherein the second proximal drive member and the seconddistal drive member are configured to be coupled and decoupled when thesecond proximal drive member and the second distal drive member are in asecond home position.

Example 68

The surgical instrument assembly of Example 67, wherein the homeposition comprises a first home position, and wherein the second homeposition is aligned with the first home position.

Example 69

The surgical instrument assembly of Example 67, wherein the homeposition comprises a first home position, and wherein the second homeposition is not aligned with the first home position.

Example 70

The surgical instrument assembly of Examples 61, 62, 63, 64, 65, 66, 67,68, or 69, wherein the proximal shaft assembly and the distal shaftassembly employ a twisting motion to attach and detach the proximalshaft assembly and the distal shaft assembly.

Example 71

The surgical instrument assembly of Examples 61, 62, 63, 64, 65, 66, 67,68, 69, or 70, further comprising a staple cartridge comprising aplurality of staples removably stored therein.

Example 72

A surgical instrument assembly comprising an end effector, a proximalshaft assembly comprising a proximal drive member, and a distal shaftassembly attachable to and detachable from the proximal shaft assembly,wherein the distal shaft assembly comprises a distal drive memberconfigured to be coupled to and decoupled from the proximal drivemember, wherein the distal drive member is configured to be actuatedthrough a drive stroke by the proximal drive member to articulate theend effector. The drive stroke comprises a first articulated positionwhere the end effector is fully articulated in a first direction, asecond articulated position where the end effector is fully articulatedin a second direction which is opposite the first direction, anunarticulated position where the end effector is unarticulated, andwherein the unarticulated position is intermediate the first articulatedposition and the second articulated position, and a home position. Theproximal drive member and the distal drive member are configured to becoupled to and decoupled from each other when the proximal drive memberand the distal drive member are in the home position, and wherein thehome position is not at the first articulated position, the secondarticulated position, or the unarticulated position.

Example 73

The surgical instrument assembly of Example 72, wherein the homeposition is either intermediate the first articulated position and theunarticulated position or intermediate the second articulated positionand the unarticulated position.

Example 74

The surgical instrument assembly of Examples 72 or 73, furthercomprising a control system, wherein the proximal drive member and thedistal drive member are automatically moved to the unarticulatedposition by the control system after the proximal shaft assembly and thedistal shaft assembly are attached.

Example 75

The surgical instrument assembly of Examples 72, 73, or 74, furthercomprising a control system, wherein the proximal drive member and thedistal drive member are automatically moved to the home position by thecontrol system when the distal shaft assembly is decoupled from theproximal shaft assembly.

Example 76

The surgical instrument assembly of Examples 72, 73, 74, or 75, whereinthe proximal shaft assembly and the distal shaft assembly employ atwisting motion to attach and detach the proximal shaft assembly and thedistal shaft assembly.

Example 77

The surgical instrument assembly of Examples 72, 73, 74, 75, or 76,further comprising a staple cartridge comprising a plurality of staplesremovably stored therein.

Example 78

A surgical instrument assembly comprising a proximal shaft assemblycomprising a proximal drive member, and a distal shaft assemblyattachable to and detachable from the proximal shaft assembly, whereinthe distal shaft assembly comprises a distal drive member configured tobe coupled to and decoupled from the proximal drive member, wherein thedistal drive member is configured to be actuated through a drive strokeby the proximal drive member to actuate a function of the surgicalinstrument assembly. The drive stroke comprises a beginning of strokeposition, an end of stroke position distal to the beginning of strokeposition, at least one interval drive stroke position corresponding toat least one specific event of the function of the surgical instrumentassembly, wherein the at least one interval drive stroke position isdistal to the beginning of stroke position and proximal to the end ofstroke position, and a park position. The proximal drive member and thedistal drive member are configured to be coupled to and decoupled fromeach other when the proximal drive member and the distal drive memberare in the park position, and wherein the park position is not at thebeginning of stroke position, the end of stroke position, or the atleast one interval drive stroke position.

Example 79

The surgical instrument assembly of Example 78, wherein the parkposition is proximal to the beginning of stroke position.

Example 80

The surgical instrument assembly of Example 78, wherein the parkposition is distal to the beginning of stroke position and proximal tothe end of stroke position.

Example 81

The surgical instrument assembly of Examples 78, 79, or 80, furthercomprising a control system, wherein the proximal drive member and thedistal drive member are automatically moved to the beginning of strokeposition by the control system after the proximal shaft assembly and thedistal shaft assembly are attached.

Example 82

The surgical instrument assembly of Examples 78, 79, 80, or 81, furthercomprising a control system, wherein the proximal drive member and thedistal drive member are automatically moved to the park position by thecontrol system when the distal shaft assembly is decoupled from theproximal shaft assembly.

Example 83

The surgical instrument assembly of Examples 78, 79, 80, 81, or 82,wherein the proximal drive member is a first proximal drive member, thedistal drive member is a first distal drive member, and the parkposition is a first park position, wherein the proximal shaft assemblyfurther comprises a second proximal drive member and the distal shaftassembly further comprises a second distal drive member, and wherein thesecond proximal drive member and the second distal drive member areconfigured to be coupled and decoupled when the second proximal drivemember and the second distal drive member are in a second park position.

Example 84

The surgical instrument assembly of Examples 78, 79, 80, 81, 82, or 83,wherein the proximal shaft assembly and the distal shaft assembly employa twisting motion to attach and detach the proximal shaft assembly andthe distal shaft assembly.

Example 85

The surgical instrument assembly of Examples 78, 79, 80, 81, 82, 83, or84, further comprising a staple cartridge comprising a plurality ofstaples removably stored therein.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. Moreover, as discussedabove, the motors disclosed herein may comprise a portion or portions ofa robotically controlled system. U.S. patent application Ser. No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example,discloses several examples of a robotic surgical instrument system ingreater detail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FORA SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, nowU.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROLASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE,filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLINGINSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012;now U.S. Pat. No. 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat.No. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICALSTAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22,2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by referenceherein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument assembly, comprising: aproximal shaft assembly comprising a first proximal drive member; adistal shaft assembly attachable to and detachable from said proximalshaft assembly, wherein said distal shaft assembly comprises a firstdistal drive member configured to be coupled to and decoupled from saidfirst proximal drive member, wherein said first distal drive member isconfigured to be actuated through a drive stroke by said first proximaldrive member to actuate a function of said surgical instrument assembly,and wherein said drive stroke comprises: a beginning of stroke position;an end of stroke position distal to said beginning of stroke position;and a first home position; and an end effector, wherein said firstproximal drive member and said first distal drive member are configuredto be coupled to and decoupled from each other when said first proximaldrive member and said first distal drive member are in said first homeposition, wherein said first home position is not at said beginning ofstroke position or said end of stroke position, wherein said proximalshaft assembly further comprises a second proximal drive member and saiddistal shaft assembly further comprises a second distal drive member,wherein said second proximal drive member and said second distal drivemember are configured to be coupled and decoupled when said secondproximal drive member and said second distal drive member are in asecond home position, wherein said second proximal drive member and saidsecond distal drive member are movable through a second drive stroke,and wherein said second home position is not at the beginning of saidsecond drive stroke.
 2. The surgical instrument assembly of claim 1,wherein said first home position is proximal to said beginning of strokeposition.
 3. The surgical instrument assembly of claim 1, wherein saidfirst home position is distal to said beginning of stroke position andproximal to said end of stroke position.
 4. The surgical instrumentassembly of claim 1, wherein said drive stroke further comprises atleast one interval drive stroke position corresponding to at least onespecific event of said function of said surgical instrument assembly,wherein said at least one interval drive stroke position is distal tosaid beginning of stroke position and proximal to said end of strokeposition, and wherein said first home position is not at said at leastone interval drive stroke position.
 5. The surgical instrument assemblyof claim 1, further comprising a control system, wherein said firstproximal drive member and said first distal drive member areautomatically moved to said beginning of stroke position by said controlsystem after said proximal shaft assembly and said distal shaft assemblyare attached.
 6. The surgical instrument assembly of claim 1, whereinsaid first proximal drive member and said first distal drive member areautomatically moved to said first home position when said distal shaftassembly is uncoupled from said proximal shaft assembly.
 7. The surgicalinstrument assembly of claim 1, wherein said proximal shaft assembly andsaid distal shaft assembly employ a twisting motion to attach and detachsaid proximal shaft assembly and said distal shaft assembly.
 8. Thesurgical instrument assembly of claim 1, further comprising a staplecartridge comprising a plurality of staples removably stored therein. 9.The surgical instrument assembly of claim 1, further comprising a staplefiring drive, wherein said staple firing drive includes said firstproximal drive member and said first distal drive member, and whereinsaid beginning of stroke position and said end of stroke position defineends of a staple firing stroke.
 10. The surgical instrument assembly ofclaim 9, further comprising a control system including an electricmotor, wherein said control system is configured to operate saidelectric motor to move said first proximal drive member and said firstdistal drive member to said beginning of stroke position after saidproximal shaft assembly and said distal shaft assembly are connected.11. The surgical instrument assembly of claim 10, wherein said controlsystem is configured to operate said electric motor to automaticallymove said first proximal drive member and said first distal drive memberto said first home position when said distal shaft assembly is uncoupledfrom said proximal shaft assembly.
 12. The surgical instrument assemblyof claim 1, wherein said end effector is movable between an openconfiguration and a closed configuration, wherein said surgicalinstrument assembly comprises a closure drive configured to move saidend effector into said closed configuration during a closure stroke,wherein said closure drive includes said first proximal drive member andsaid first distal drive member, and wherein said beginning of strokeposition and said end of stroke position define ends of said closurestroke.
 13. The surgical instrument assembly of claim 12, furthercomprising a control system including an electric motor, wherein saidcontrol system is configured to operate said electric motor to move saidfirst proximal drive member and said first distal drive member to saidbeginning of stroke position after said proximal shaft assembly and saiddistal shaft assembly are connected.
 14. The surgical instrumentassembly of claim 13, wherein said control system is configured tooperate said electric motor to automatically move said first proximaldrive member and said first distal drive member to said first homeposition when said distal shaft assembly is uncoupled from said proximalshaft assembly.
 15. The surgical instrument assembly of claim 1, whereinsaid distal shaft assembly comprises a proximal connection interfacewhich is rotated relative to said proximal shaft assembly to connectsaid distal shaft assembly to said proximal shaft assembly.
 16. Asurgical instrument assembly, comprising: an end effector; anarticulation joint; a proximal shaft assembly comprising a firstproximal drive member; and a distal shaft assembly attachable to anddetachable from said proximal shaft assembly, wherein said distal shaftassembly comprises a first distal drive member configured to be coupledto and decoupled from said first proximal drive member, wherein saidfirst distal drive member is configured to be actuated through a drivestroke by said first proximal drive member to articulate said endeffector, and wherein said drive stroke comprises: a first articulatedposition where said end effector is fully articulated in a firstdirection; a second articulated position where said end effector isfully articulated in a second direction which is opposite said firstdirection; an unarticulated position where said end effector isunarticulated, and wherein said unarticulated position is intermediatesaid first articulated position and said second articulated position;and a first home position, wherein said first proximal drive member andsaid first distal drive member are configured to be coupled to anddecoupled from each other when said first proximal drive member and saidfirst distal drive member are in said first home position, wherein saidfirst home position is not at said first articulated position, saidsecond articulated position, or said unarticulated position, whereinsaid proximal shaft assembly further comprises a second proximal drivemember and said distal shaft assembly further comprises a second distaldrive member, wherein said second proximal drive member and said seconddistal drive member are configured to be coupled and decoupled when saidsecond proximal drive member and said second distal drive member are ina second home position, wherein said second proximal drive member andsaid second distal drive member are movable through a firing stroke, andwherein said second home position is not at the beginning of said firingstroke.
 17. The surgical instrument assembly of claim 16, wherein saidfirst home position is either intermediate said first articulatedposition and said unarticulated position or intermediate said secondarticulated position and said unarticulated position.
 18. The surgicalinstrument assembly of claim 16, further comprising a control system,wherein said first proximal drive member and said first distal drivemember are automatically moved to said unarticulated position by saidcontrol system after said proximal shaft assembly and said distal shaftassembly are attached.
 19. The surgical instrument assembly of claim 16,further comprising a control system, wherein said first proximal drivemember and said first distal drive member are automatically moved tosaid first home position by said control system when said distal shaftassembly is decoupled from said proximal shaft assembly.
 20. Thesurgical instrument assembly of claim 16, wherein said proximal shaftassembly and said distal shaft assembly employ a twisting motion toattach and detach said proximal shaft assembly and said distal shaftassembly.
 21. The surgical instrument assembly of claim 16, furthercomprising a staple cartridge comprising a plurality of staplesremovably stored therein.
 22. A surgical instrument assembly,comprising: a proximal shaft assembly comprising a proximal drivemember; and a distal shaft assembly attachable to and detachable fromsaid proximal shaft assembly, wherein said distal shaft assemblycomprises a distal drive member configured to be coupled to anddecoupled from said proximal drive member, wherein said distal drivemember is configured to be actuated through a drive stroke by saidproximal drive member to actuate a function of said surgical instrumentassembly, and wherein said drive stroke comprises: a beginning of strokeposition; an end of stroke position distal to said beginning of strokeposition; at least one interval drive stroke position corresponding toat least one specific event of said function of said surgical instrumentassembly, wherein said at least one interval drive stroke position isdistal to said beginning of stroke position and proximal to said end ofstroke position; and a park position, wherein said proximal drive memberand said distal drive member are configured to be coupled to anddecoupled from each other when said proximal drive member and saiddistal drive member are in said park position, wherein said parkposition is not at said beginning of stroke position, said end of strokeposition, or said at least one interval drive stroke position, andwherein said park position is proximal to said beginning of strokeposition.
 23. A surgical instrument assembly, comprising: a proximalshaft assembly comprising a proximal drive member; and a distal shaftassembly attachable to and detachable from said proximal shaft assembly,wherein said distal shaft assembly comprises a distal drive memberconfigured to be coupled to and decoupled from said proximal drivemember, wherein said distal drive member is configured to be actuatedthrough a drive stroke by said proximal drive member to actuate afunction of said surgical instrument assembly, and wherein said drivestroke comprises: a beginning of stroke position; an end of strokeposition distal to said beginning of stroke position; at least oneinterval drive stroke position corresponding to at least one specificevent of said function of said surgical instrument assembly, whereinsaid at least one interval drive stroke position is distal to saidbeginning of stroke position and proximal to said end of strokeposition; and a park position, wherein said proximal drive member andsaid distal drive member are configured to be coupled to and decoupledfrom each other when said proximal drive member and said distal drivemember are in said park position, and wherein said park position is notat said beginning of stroke position, said end of stroke position, orsaid at least one interval drive stroke position, and a control system,wherein said proximal drive member and said distal drive member areautomatically moved to said beginning of stroke position by said controlsystem after said proximal shaft assembly and said distal shaft assemblyare attached.
 24. A surgical instrument assembly, comprising: an endeffector; a proximal shaft assembly, comprising: an elongate shaftinsertable through a trocar; and a first proximal drive member; and adistal shaft assembly attachable to and detachable from said proximalshaft assembly, wherein said distal shaft assembly comprises a firstdistal drive member configured to be coupled to and decoupled from saidfirst proximal drive member, wherein said first distal drive member isconfigured to be actuated through a drive stroke by said first proximaldrive member to articulate said end effector, and wherein said drivestroke comprises: a first articulated position where said end effectoris fully articulated in a first direction; a second articulated positionwhere said end effector is fully articulated in a second direction whichis opposite said first direction; a central position where said endeffector is aligned with said elongate shaft such that said end effectorcan be inserted through the trocar, and wherein said central position isbetween said first articulated position and said second articulatedposition; and a first home position, wherein said first proximal drivemember and said first distal drive member are configured to be coupledto and decoupled from each other when said first proximal drive memberand said first distal drive member are in said first home position,wherein said first home position is not at said first articulatedposition, said second articulated position, or said central position,wherein said proximal shaft assembly further comprises a second proximaldrive member and said distal shaft assembly further comprises a seconddistal drive member, wherein said second proximal drive member and saidsecond distal drive member are configured to be coupled and decoupledwhen said second proximal drive member and said second distal drivemember are in a second home position, wherein said second proximal drivemember and said second distal drive member are movable through a firingstroke, and wherein said second home position is not at the beginning ofsaid firing stroke.
 25. The surgical instrument assembly of claim 24,further comprising a control system including an electric motor, whereinsaid control system is configured to operate said electric motor to movesaid first proximal drive member and said first distal drive member tosaid central position after said proximal shaft assembly and said distalshaft assembly are connected.
 26. The surgical instrument assembly ofclaim 25, wherein said control system is configured to operate saidelectric motor to automatically move said first proximal drive memberand said first distal drive member to said first home position when saiddistal shaft assembly is uncoupled from said proximal shaft assembly.27. The surgical instrument assembly of claim 24, wherein said distalshaft assembly comprises a proximal connection interface which isrotated relative to said proximal shaft assembly to connect said distalshaft assembly to said proximal shaft assembly.